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1. (WO2018141447) METHOD FOR LOCALISING A MORE HIGHLY AUTOMATED, E.G. HIGHLY AUTOMATED VEHICLE (HAV) IN A DIGITAL LOCALISATION MAP
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Pub. No.: WO/2018/141447 International Application No.: PCT/EP2017/082432
Publication Date: 09.08.2018 International Filing Date: 12.12.2017
IPC:
G01C 21/00 (2006.01) ,G01C 21/04 (2006.01) ,G01C 21/12 (2006.01) ,G01C 21/16 (2006.01) ,G01C 21/26 (2006.01) ,G01C 21/30 (2006.01) ,G01S 13/06 (2006.01) ,G05D 1/02 (2006.01) ,G01S 11/12 (2006.01)
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
04
by terrestrial means
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10
by using measurement of speed or acceleration
12
executed aboard the object being navigated; Dead reckoning
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10
by using measurement of speed or acceleration
12
executed aboard the object being navigated; Dead reckoning
16
by integrating acceleration or speed, i.e. inertial navigation
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26
specially adapted for navigation in a road network
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26
specially adapted for navigation in a road network
28
with correlation of data from several navigational instruments
30
Map- or contour-matching
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13
Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
02
Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
06
Systems determining position data of a target
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02
Control of position or course in two dimensions
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
11
Systems for determining distance or velocity not using reflection or reradiation
12
using electromagnetic waves other than radio waves
Applicants:
ROBERT BOSCH GMBH [DE/DE]; Postfach 30 02 20 70442 Stuttgart, DE
Inventors:
MIELENZ, Holger; DE
ROHDE, Jan; DE
Priority Data:
10 2017 201 663.902.02.2017DE
Title (EN) METHOD FOR LOCALISING A MORE HIGHLY AUTOMATED, E.G. HIGHLY AUTOMATED VEHICLE (HAV) IN A DIGITAL LOCALISATION MAP
(FR) PROCÉDÉ DE LOCALISATION D’UN VÉHICULE À FORTE AUTOMATISATION, PAR EX. UN VÉHICULE ENTIÈREMENT AUTOMATISÉ (HAF), DANS UNE CARTE DE LOCALISATION NUMÉRIQUE
(DE) VERFAHREN ZUR LOKALISIERUNG EINES HÖHER AUTOMATISIERTEN, Z.B. HOCHAUTOMATISIERTEN FAHRZEUGS (HAF) IN EINER DIGITALEN LOKALISIERUNGSKARTE
Abstract:
(EN) The invention relates to a method for localising a highly automated vehicle (HAV) in a digital localisation map, comprising the steps: S1 sensing features of semi-static objects in an environment of the HAV by means of at least one first sensor; S2 transmitting the features of the semi-static objects and the vehicle position to an evaluation unit; S3 classifying the semi-static objects, the semi-static objects being assigned the feature "semi-static" as the result of the classification; S4 passing the features of the semi-static objects to a local environment model of the HAV, a check being performed during creation of the local environment model as to whether landmarks suitable for localising the HAV are concealed by the semi-static objects in relation to the position and/or an approach trajectory of the HAV; S5 transmitting the local environment map to the HAV in the form of a digital localisation map, the digital localisation map only containing the landmarks suitable for localising the HAV which are not concealed by semi-static objects in relation to the position and/or an approach trajectory of the HAV; and S6 localising the HAV using the digital localisation map. The invention also relates to a corresponding system and to a computer program.
(FR) L’invention concerne un procédé de localisation d’un véhicule entièrement automatisé (HAF), dans une carte de localisation numérique, dont les étapes consistent : (S1) en la détection de caractéristiques d’objets semi-statiques dans un environnement du HAF au moyen d’au moins un premier capteur ; (S2) en la transmission des caractéristiques des objets semi-statiques ainsi que de la position du véhicule à une unité d’évaluation ; (S3) en la classification des objets semi-statiques, la caractéristique « semi-statique » étant associée aux objets semi-statiques en résultat de la classification ; (S4) en le transfert des caractéristiques des objets semi-statiques dans un modèle local d’environnement du HAF, le système vérifiant lors de la création du modèle local d’environnement si des points de repère appropriés pour la localisation du HAF sont dissimulés par les objets semi-statiques par rapport à la position et/ou à une trajectoire d'avancement du HAF ; (S5) en la transmission du modèle local d’environnement au HAF sous la forme d’une carte de localisation numérique, la carte de localisation numérique ne contenant que les points de repère appropriés pour la localisation du HAF qui ne sont pas dissimulés par les objets semi-statiques par rapport à la position et/ou à une trajectoire d'avancement du HAF ; et (S6) en la localisation du HAF au moyen de la carte de localisation numérique. L’invention concerne en outre un système correspondant ainsi qu’un programme informatique.
(DE) Die Erfindung betrifft ein Verfahren zur Lokalisierung eines hochautomatisierten Fahrzeugs (HAF) in einer digitalen Lokalisierungskarte, umfassend die Schritte: S1 Erfassen von Merkmalen semistatischer Objekte in einer Umgebung des HAF mittels zumindest eines ersten Sensors; S2 Übermittlung der Merkmale der semistatischen Objekte sowie der Fahrzeugposition an eine Auswerteeinheit; S3 Klassifikation der semistatischen Objekte, wobei den semistatischen Objekten als Ergebnis der Klassifikation das Merkmal „semistatisch" zugeordnet wird; S4 Überführung der Merkmale der semistatischen Objekte in ein lokales Umfeldmodell des HAF, wobei bei der Erstellung des lokalen Umfeldmodells überprüft wird, ob für die Lokalisierung des HAF geeignete Landmarken in Bezug auf die Position und/oder eine Anfahrtrajektorie des HAF durch die semistatischen Objekte verdeckt werden; S5 Übermittlung des lokalen Umfeldmodells an das HAF in Form einer digitalen Lokalisierungskarte, wobei die digitale Lokalisierungskarte nur solche für die Lokalisierung des HAF geeignete Landmarken enthält, die in Bezug auf die Position und/oder eine Anfahrtrajektorie des HAF nicht durch semistatische Objekte verdeckt werden; und S6 Lokalisierung des HAF unter Verwendung der digitalen Lokalisierungskarte. Die Erfindung betrifft ferner einentsprechendes Systemsowie ein Computerprogramm.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: German (DE)
Filing Language: German (DE)