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1. (WO2019063266) METHOD FOR LOCATING A VEHICLE WITH ADVANCED AUTOMATED FUNCTIONS (HAD), IN PARTICULAR A HIGHLY AUTOMATED VEHICLE, AND A VEHICLE SYSTEM
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Pub. No.: WO/2019/063266 International Application No.: PCT/EP2018/074223
Publication Date: 04.04.2019 International Filing Date: 07.09.2018
IPC:
G01S 5/16 (2006.01) ,G01S 5/02 (2010.01) ,G01C 21/26 (2006.01) ,G01C 21/30 (2006.01) ,G05D 1/02 (2006.01) ,G06K 9/00 (2006.01)
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
5
Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations
16
using electromagnetic waves other than radio waves
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
5
Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations
02
using radio waves
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
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
06
COMPUTING; CALCULATING; COUNTING
K
RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9
Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
Applicants:
ROBERT BOSCH GMBH [DE/DE]; Postfach 30 02 20 70442 Stuttgart, DE
Inventors:
ROHDE, Jan; DE
MIELENZ, Holger; DE
Priority Data:
10 2017 217 212.627.09.2017DE
Title (EN) METHOD FOR LOCATING A VEHICLE WITH ADVANCED AUTOMATED FUNCTIONS (HAD), IN PARTICULAR A HIGHLY AUTOMATED VEHICLE, AND A VEHICLE SYSTEM
(FR) PROCÉDÉ DE LOCALISATION D’UN VÉHICULE TRÈS AUTOMATISÉ (VTA), EN PARTICULIER UN VÉHICULE FORTEMENT AUTOMATISÉ, ET SYSTÈME DE VÉHICULE
(DE) VERFAHREN ZUR LOKALISIERUNG EINES HÖHER AUTOMATISIERTEN FAHRZEUGS (HAF), INSBESONDERE EINES HOCHAUTOMATISIERTEN FAHRZEUGS, UND EIN FAHRZEUGSYSTEM
Abstract:
(EN) The invention relates to a method for operating a vehicle with advanced automated functions (HAD), in particular a highly automated vehicle, in a digital map, having the steps of: S1 ascertaining a global position estimation for the HAD by means of a locating module of a vehicle system of the HAD, said global position estimation comprising a position and an orientation of the HAD; S2 transmitting at least one landmark position and at least one assigned landmark property to the vehicle system; S3 ascertaining the position of the landmark position relative to the HAD at least partly on the basis of the position estimation and the landmark position; S4 carrying out at least one sensor measurement and checking that the at least one landmark property can be detected at the relative position; and S5 outputting an error indicator as the result of the check carried out in step S4. The invention additionally relates to a corresponding system and to a computer program.
(FR) L’invention concerne un procédé pour faire fonctionner un véhicule très automatisé (VTA), en particulier un véhicule fortement automatisé, dans une carte numérique, comprenant les étapes de : S1 la détermination d’une estimation d’une pose globale pour le VTA par un module de localisation d’un système de véhicule du VTA, l’estimation de pose globale comprenant une position et une orientation du VTA ; S2 la transmission d’au moins une position de point de repère et d’au moins une propriété de point de repère associée au système de véhicule ; S3 la détermination d’une position relative de la position de point de repère par rapport au VTA au moins partiellement sur la base de l’estimation de pose et de la position de point de repère ; S4 la réalisation d’au moins une mesure de capteur et la vérification quant à la possibilité de détecter l’au moins une propriété de point de repère à la position relative ; et S5 la sortie d’un indicateur d’erreur comme résultat de la vérification effectuée dans l’étape S4. L'invention concerne en outre un système correspondant ainsi qu’un programme d’ordinateur.
(DE) Die Erfindung betrifft ein Verfahren zum Betreiben eines höher automatisierten Fahrzeugs (HAF), insbesondere eines hochautomatisierten Fahrzeugs, in einer digitalen Karte, umfassend die Schritte: S1 Ermittlung einer globalen Posenschätzung für das HAF durch ein Lokalisierungsmodul eines Fahrzeugsystems des HAF, wobei die globale Posenschätzung eine Position und Orientierung des HAF umfasst; S2 Übermittlung von zumindest einer Landmarkenposition und zumindest einer zugeordneten Landmarkeneigenschaft an das Fahrzeugsystem; S3 Ermittlung einer relativen Position der Landmarkenposition bezüglich des HAF zumindest teilweise auf Grundlage der Posenschätzung und der Landmarkenposition; S4 Durchführung zumindest einer Sensormessung und Überprüfung dahingehend, dass an der relativen Position die zumindest eine Landmarkeneigenschaft detektierbar ist; und S5 Ausgabe eines Fehlerindikators als Ergebnis der in Schritt S4 durchgeführten Überprüfung. Die Erfindung betrifft ferner ein entsprechendes System sowie 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)