Method for localizing a more automated, e. g., highly automated vehicle (hav) in a digital localization map

A method for localizing a highly automated vehicle (HAV) in a digital localization map, comprising:

• sensing features of semi-static objects in an environment of the HAV with the aid of at least one first sensor;
• transmitting the features of the semi-static objects and a vehicle position to an evaluation unit;
• classifying the semi-static objects, wherein a feature “semi-static” is assigned to the semi-static objects as a result of the classification;
• transferring the features of the semi-static objects into a local driving-environment model of the HAV, in creating the local driving-environment model, and checking whether landmarks suitable for localizing the HAV are hidden by the semi-static objects in terms of at least one of the position and an approach trajectory of the HAV;
• transmitting the local driving-environment model to the HAV as a digital localization map that contains only those landmarks suitable for localizing the HAV that are not hidden by the semi-static objects in terms of the at least one of the position and the approach trajectory of the HAV;
• and
• localizing the HAV using the digital localization map.

A system for localizing a highly automated vehicle (HAV) in a digital localization map, comprising:

• at least one first sensor for sensing features of semi-static objects in an environment of the HAV;
• a communication interface for transmitting the features of the semi-static objects to an evaluation unit, wherein the evaluation unit:
• classifies the semi-static objects, wherein a feature “semi-static” is assigned to the semi-static objects as a result of the classification,
• transfers the features of the semi-static objects into a local driving-environment model of the HAV, in creating the local driving-environment model, and checks whether landmarks suitable for localizing the HAV are hidden by the semi-static objects in terms of at least one of the position and an approach trajectory of the HAV, and
• integrates only those landmarks into the local driving-environment model that are not hidden by the semi-static objects in terms of the at least one of the position and the approach trajectory of the HAV, wherein the communication interface transmits the local driving-environment model to the HAV as a digital localization map;
• and
• one of a driver-assistance system and a control of the HAV for localizing the HAV using the digital localization map and driving-environment sensors of the HAV.

A computer program including program code for carrying out on a computer a method for localizing a highly automated vehicle (HAV) in a digital localization map, the method comprising:

• sensing features of semi-static objects in an environment of the HAV with the aid of at least one first sensor;
• transmitting the features of the semi-static objects and a vehicle position to an evaluation unit;
• classifying the semi-static objects, wherein a feature “semi-static” is assigned to the semi-static objects as a result of the classification;
• transferring the features of the semi-static objects into a local driving-environment model of the HAV, in creating the local driving-environment model, and checking whether landmarks suitable for localizing the HAV are hidden by the semi-static objects in terms of at least one of the position and an approach trajectory of the HAV;
• transmitting the local driving-environment model to the HAV as a digital localization map that contains only those landmarks suitable for localizing the HAV that are not hidden by the semi-static objects in terms of the at least one of the position and the approach trajectory of the HAV;
• and
• localizing the HAV using the digital localization map.