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US 12,736,351 B2Granted
Determination of an absolute initial position of a vehicle
AssigneesCariad SE, Volkswagen Aktiengesellschaft
InventorsMichael Holicki, Ralph Hänsel, Timo Iken, Roland Kube, Carolin Last, Stefan Wappler
Life of this patent
Estimating the term…
Abstract
To determine an absolute position of a vehicle, the vehicle is moved along a trajectory starting from the absolute initial position. The trajectory is sensed by odometry starting from a defined initial position, which is associated with the absolute initial position. Three objects are detected from the vehicle which is on the trajectory. At each detection, a detection beam is sensed. The trajectory with the detection beams are matched with a map. Finally, the absolute initial position is determined from the matching.
Claims19
A method for determining an absolute initial position of a vehicle, comprising:
- moving the vehicle, starting from the absolute initial position of the vehicle, along a trajectory,
- sensing the trajectory by odometry, starting from a defined initial position of the vehicle, wherein the defined initial position of the vehicle is assigned predetermined coordinates, and wherein each of the predetermined coordinates assigned to the defined initial position of the vehicle is zero,
- detecting three objects outside of the vehicle, from the vehicle located on the trajectory, wherein a plurality of detection beams is sensed for the three objects outside of the vehicle, wherein at least one of the three objects outside of the vehicle is detected from at least two different positions of the trajectory, and wherein at least some of the detection beams do not intersect,
- matching the trajectory, including the detection beams, with a digital map in which the three objects are represented with respective absolute positions of the three objects outside of the vehicle, to determine the defined initial position of the vehicle relative to the three objects outside of the vehicle,
- determining the absolute initial position of the vehicle based on the defined initial position of the vehicle relative to the three objects outside of the vehicle, and
- driving the vehicle autonomously based on the absolute initial position of the vehicle determined by the determining.
3 more elements
A method for determining a current position of a vehicle, comprising:
- determining an absolute initial position of the vehicle, including:
- moving the vehicle, starting from the absolute initial position of the vehicle, along a trajectory,
- sensing the trajectory by odometry, starting from a defined initial position of the vehicle, wherein the defined initial position of the vehicle is assigned predetermined coordinates, and wherein each of the predetermined coordinates assigned to the defined initial position of the vehicle is zero,
- detecting three objects outside of the vehicle, from the vehicle located on the trajectory, wherein a plurality of detection beams is sensed for the three objects outside of the vehicle, wherein at least one of the three objects outside of the vehicle is detected from at least two different positions of the trajectory, and wherein at least some of the detection beams do not intersect,
- matching the trajectory, including the detection beams, with a digital map in which the three objects outside of the vehicle are represented with respective absolute positions of the three objects outside of the vehicle, to determine the defined initial position of the vehicle relative to the three objects outside of the vehicle, and
- determining the absolute initial position of the vehicle based on the defined initial position of the vehicle relative to the three objects outside of the vehicle;
- obtaining the current position of the vehicle starting from the absolute initial position of the vehicle by odometry and/or by camera-based localization;
- and
- driving the vehicle autonomously based on the current position of the vehicle determined by the obtaining.
6 more elements
An apparatus for determining an absolute initial position of a vehicle, comprising:
- a sensor that, in operation, senses a trajectory by odometry starting from a defined initial position of the vehicle, wherein the sensor is movable along the trajectory starting from the absolute initial position, wherein the defined initial position of the vehicle is assigned predetermined coordinates, and wherein each of the predetermined coordinates assigned to the defined initial position of the vehicle is zero,
- a detection device that, in operation, detects three objects outside of the vehicle from the detection device located on the trajectory, wherein a plurality of detection beams is sensed for the three objects outside of the vehicle, wherein at least one of the three objects outside of the vehicle is detected from at least two different positions of the trajectory, and wherein at least some of the detection beams do not intersect,
- a matching system that, in operation, matches the trajectory including the detection beams with a digital map, wherein the three objects outside of the vehicle with respective absolute positions of the three objects outside of the vehicle are represented in the digital map, to determine the defined initial position of the vehicle relative to the three objects outside of the vehicle, and
- a determination system that, in operation, determines the absolute initial position of the vehicle from the detection beams by triangulation or trilateration based on the defined initial position of the vehicle relative to the three objects outside of the vehicle, wherein the vehicle is autonomously driven based on the absolute initial position of the vehicle determined by the determination system.
1 more element
A vehicle comprising:
- a device that, in operation, determines an absolute initial position of the vehicle, the device comprising:
- a sensor that, in operation, senses a trajectory by odometry starting from a defined initial position of the vehicle, wherein the sensor is movable along the trajectory starting from the absolute initial position, wherein the defined initial position of the vehicle is assigned predetermined coordinates, and wherein each of the predetermined coordinates assigned to the defined initial position of the vehicle is zero,
- a detection device that, in operation, detects three objects outside of the vehicle from the detection device located on the trajectory, wherein a plurality of detection beams is sensed at each detection, wherein at least one of the three objects outside of the vehicle is detected from at least two different positions of the trajectory, and wherein at least some of the detection beams do not intersect,
- a matching system that, in operation, matches the trajectory including the detection beams with a digital map, wherein the three objects outside of the vehicle with respective absolute positions of the three objects outside of the vehicle are represented in the digital map, to determine the defined initial position of the vehicle relative to the three objects outside of the vehicle, and
- a determination system that, in operation, determines the absolute initial position of the vehicle from the detection beams by triangulation or trilateration based on the defined initial position of the vehicle relative to the three objects outside of the vehicle, wherein the vehicle is autonomously driven based on the absolute initial position of the vehicle determined by the determination system.
2 more elements
Dependencies are inferred from the claim text.