Position estimation for vehicles based on virtual sensor response
AssigneeABB Schweiz AG
InventorsStefano Marano, Deran Maas, Fredrik Gustafsson, Jonatan Olofsson
Life of this patent
Estimating the term…
Abstract
A method for determining an estimated position of a vehicle includes: receiving a measured sensor response determined with a scanning sensor of the vehicle, which is scanning an environment of the vehicle and determining the estimated position of the vehicle by generating a virtual sensor response for a possible position of the vehicle from an environmental map; and comparing the measured sensor response with the virtual sensor response for determining, how much the possible position and a real position of the vehicle at which the measured sensor response was generated, coincide.
Claims17
A method for determining an estimated position of a vehicle, the method comprising:
- receiving a measured sensor response determined with a scanning sensor of the vehicle, which is scanning an environment of the vehicle;
- and
- determining the estimated position of the vehicle by:
- generating a virtual sensor response for a possible position of the vehicle from an environmental map;
- and
- comparing the measured sensor response with the virtual sensor response for determining how much the possible position and a real position of the vehicle at which the measured sensor response was generated coincide;
- wherein the environmental map models slopes of a terrain;
- wherein the virtual sensor response is determined by calculating an incident angle from a virtual ray from the scanning sensors at a point of the environmental map, wherein the incident angle is calculated from the slope at the point of the environmental map.
A position estimation device adapted for determining the position for a vehicle, the position estimation device comprising:
- receiving a measured sensor response determined with a scanning sensor of the vehicle, which is scanning an environment of the vehicle;
- and
- determining the estimated position of the vehicle by:
- generating a virtual sensor response for a possible position of the vehicle from an environmental map;
- and
- comparing the measured sensor response with the virtual sensor response for determining how much the possible position and a real position of the vehicle at which the measured sensor response was generated coincide;
- wherein the environmental map models slopes of a terrain;
- wherein the virtual sensor response is determined by calculating an incident angle from a virtual ray from the scanning sensors at a point of the environmental map, wherein the incident angle is calculated from the slope at the point of the environmental map.
A computer program for determining an estimated position of a vehicle, which, when being executed by a processor performs an operation comprising:
- receiving a measured sensor response determined with a scanning sensor of the vehicle, which is scanning an environment of the vehicle;
- and
- determining the estimated position of the vehicle by:
- generating a virtual sensor response for a possible position of the vehicle from an environmental map;
- and
- comparing the measured sensor response with the virtual sensor response for determining how much the possible position and a real position of the vehicle at which the measured sensor response was generated coincide;
- wherein the environmental map models slopes of a terrain;
- wherein the virtual sensor response is determined by calculating an incident angle from a virtual ray from the scanning sensors at a point of the environmental map, wherein the incident angle is calculated from the slope at the point of the environmental map.
Dependencies are inferred from the claim text.