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1. WO2017174228 - METHOD FOR DETERMINING A POSE OF A VEHICLE DRIVING IN AN AT LEAST PARTIALLY AUTOMATED FASHION BY MEANS OF DIFFERENT LANDMARK TYPES

Publication Number WO/2017/174228
Publication Date 12.10.2017
International Application No. PCT/EP2017/052485
International Filing Date 06.02.2017
IPC
G01C 21/20 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
20Instruments for performing navigational calculations
CPC
B60W 2050/0088
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit ; , e.g. process diagnostic or vehicle driver interfaces
0062Adapting control system settings
0075Automatic parameter input, automatic initialising or calibrating means
0083Setting, resetting, calibration
0088Adaptive recalibration
B60W 2552/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2552Input parameters relating to infrastructure
B60W 2554/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2554Input parameters relating to objects
20Static objects
B60W 2555/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2555Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
20Ambient conditions, e.g. wind or rain
B60W 50/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit ; , e.g. process diagnostic or vehicle driver interfaces
06Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
B60W 60/0025
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
60Drive control systems specially adapted for autonomous road vehicles
001Planning or execution of driving tasks
0025specially adapted for specific operations
Applicants
  • ROBERT BOSCH GMBH [DE]/[DE]
Inventors
  • ROHDE, Jan
  • MIELENZ, Holger
Priority Data
10 2016 205 867.308.04.2016DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN ZUR BESTIMMUNG EINER POSE EINES WENIGSTENS TEILAUTOMATISIERT FAHRENDEN FAHRZEUGS MITTELS VERSCHIEDENER LANDMARKENTYPEN
(EN) METHOD FOR DETERMINING A POSE OF A VEHICLE DRIVING IN AN AT LEAST PARTIALLY AUTOMATED FASHION BY MEANS OF DIFFERENT LANDMARK TYPES
(FR) PROCÉDÉ POUR DÉTERMINER UNE POSE D'UN VÉHICULE, SE DÉPLAÇANT DE MANIÈRE AU MOINS PARTIELLEMENT AUTOMATISÉE, AU MOYEN DE DIFFÉRENTS TYPES DE POINTS D'INTÉRÊT
Abstract
(DE)
Verfahren zur Bestimmung einer Pose eines wenigstens teilautomatisiert fahrenden Fahrzeugs (1) mittels verschiedener Landmarkentypen (10, 11), wobei zur Bestimmung der Pose des Fahrzeugs (1) von einem Fahrzeugsteuerungssystem (100) mittels wenigstens eines Detektoralgorithmus Landmarkendaten der erfassten Landmarkentypen (10, 11) verarbeitet werden. Erfindungsgemäß wird in Abhängigkeit von Umwelteinflüssen wenigstens ein Detektionsalgorithmus zur Verarbeitung der Landmarkendaten bestimmter Landmarkentypen (10, 11) ausgewählt und verwendet.
(EN)
The invention relates to a method for determining a pose of a vehicle (1) driving in an at least partially automated fashion by means of different landmark types (10, 11), wherein landmark data of the detected landmark types (10, 11) are processed by means of a vehicle control system (100) by at least one detector algorithm for determining the pose of the vehicle (1). According to the invention, at least one detection algorithm for processing the landmark data of certain landmark types (10, 11) is selected and used as a function of environmental influences.
(FR)
L’invention concerne un procédé pour déterminer une pose d'un véhicule (1), se déplaçant de manière au moins partiellement automatisée, au moyen de différents types de points d'intérêt (10, 11), procédé selon lequel des données des types de points d'intérêt (10, 11) détectés sont traitées par un système de commande de véhicule (100) au moyen d'au moins un algorithme de détecteur pour déterminer la pose du véhicule (1). Selon l'invention, au moins un algorithme de détection est sélectionné et utilisé pour traiter les données de certains types de points d'intérêt (10, 11) en fonction d'influences environnementales.
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