Method for determining position data and/or motion data of a vehicle

A system configured to determine at least one of position data or motion data of a vehicle, the system comprising:

• a sensor system configured to receive electromagnetic radiation emitted from at least one emitter of the sensor system and reflected by at least one object in a vicinity of the vehicle towards the sensor system, the sensor system comprising a radar or a LiDAR sensor;
• and
• one or more processors configured to:
• capture, by the sensor system, at least one scan, the radar or LiDAR sensor having a single antenna such that a plurality of sensor data samples reflected by the at least one object in the vicinity of the vehicle are in a single-dimensional spatial sensor data representation having two components, wherein the two components comprising the single-dimensional spatial sensor data representation being a range and a Doppler, respectively, the range representing a distance and the Doppler representing a rate of change of a radial distance between the sensor system and the at least one object over time;
• determine, from a database, a predefined map, wherein the predefined map represents the vicinity of the vehicle and comprises at least one element representing a static landmark, wherein the at least one element is in a multi-dimensional spatial map data representation comprising a plurality of coordinates, wherein the plurality of coordinates represent position information of the static landmark;
• determine a transformed map by transforming the at least one element of the predefined map from the multi-dimensional spatial map data representation into the single-dimensional spatial sensor data representation resulting in each element of the at least one element of the predefined map being represented on the transformed map by a corresponding range and a corresponding Doppler;
• match at least a subset of the at least one object to the at least one element of the transformed map based on respective ranges and respective Dopplers, wherein the matching is carried out in dependence on at least one influence parameter for controlling an influence of the plurality of sensor data samples on the matching;
• and
• determine the at least one of the position data or the motion data of the vehicle based on the match.

A non-transitory computer readable medium comprising computer-executable instructions that, when executed, cause a processor to:

• capture at least one scan from a radar or LiDAR sensor, the radar or LiDAR sensor having a single antenna such that a plurality of sensor data samples reflected by at least one object in a vicinity of a vehicle are in a single-dimensional data representation having two components, wherein the two components comprising the single-dimensional spatial sensor data representation being a range and a Doppler, respectively, the range representing a distance between the radar or LiDAR sensor and the at least one object, and the Doppler representing a rate of change of a radial distance between the radar or LiDAR sensor and the at least one object over time;
• determine, from a database, a predefined map, wherein the predefined map represents the vicinity of the vehicle and comprises at least one element representing a static landmark, wherein the at least one element is in a multi-dimensional spatial map data representation comprising a plurality of coordinates, wherein the plurality of coordinates represent position information of the static landmark;
• determine a transformed map by transforming the at least one element of the predefined map from the multi-dimensional spatial map data representation into the single-dimensional spatial sensor data representation resulting in each element of the at least one element of the predefined map being represented on the transformed map by a corresponding range and a corresponding Doppler for each of the at least one element of the predefined map;
• match at least a subset of the at least one object to the at least one element of the transformed map based on respective ranges and respective Dopplers, wherein the matching is carried out in dependence on at least one influence parameter for controlling an influence of the plurality of sensor data samples on the matching;
• and
• determine at least one of position data or motion data of the vehicle based on the match.