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1. WO2020109476 - METHOD AND APPARATUS FOR DETERMINING A POSITION OF A VEHICLE

Publication Number WO/2020/109476
Publication Date 04.06.2020
International Application No. PCT/EP2019/082929
International Filing Date 28.11.2019
IPC
B61L 25/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
61RAILWAYS
LGUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
25Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
02Indicating or recording positions or identities of vehicles or vehicle trains
G01C 21/16 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
10by using measurement of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
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
G01C 21/30 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
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
CPC
B61L 25/02
BPERFORMING OPERATIONS; TRANSPORTING
61RAILWAYS
LGUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
25Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
02Indicating or recording positions or identities of vehicles or vehicle trains
G01C 21/005
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
005with correlation of navigation data from several sources, e.g. map or contour matching
G01C 21/12
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
G01C 21/165
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
165combined with non-inertial navigation instruments
G01C 21/20
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
20Instruments for performing navigational calculations
G01C 21/30
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
Applicants
  • THALES HOLDINGS UK PLC [GB]/[GB]
Inventors
  • BATCHELOR, Andrew
  • WATSON, Douglas
Agents
  • MARKS & CLERK LLP
Priority Data
1819619.630.11.2018GB
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD AND APPARATUS FOR DETERMINING A POSITION OF A VEHICLE
(FR) PROCÉDÉ ET APPAREIL POUR DÉTERMINER UNE POSITION D'UN VÉHICULE
Abstract
(EN)
There is provided a computer-implemented method of determining a position of a vehicle within a transport network. The method comprises: obtaining track geometry data indicating track geometry of at least a part of the transport network; determining, based upon the track geometry data, that the vehicle is approaching a junction; determining, based upon the track geometry data, a plurality of route options from the junction; generating a plurality of Bayesian estimation filter algorithms 34 each associated with a respective one of the plurality of route options and configured to estimate a position of the vehicle based upon the track geometry data indicative of the associated route option, wherein the plurality of Bayesian estimation filter algorithms are configured to output data indicative of probabilities of the vehicle taking the associated route options; monitoring the output of the plurality of Bayesian estimation filter algorithms as the vehicle passes through the junction; and determining the route option taken by the vehicle by selecting one of the plurality of route options which presents the highest probability based upon the output of the plurality of Bayesian estimation filter algorithms.
(FR)
La présente invention concerne un procédé mis en œuvre par ordinateur pour déterminer une position d'un véhicule dans un réseau de transport. Le procédé consiste à : obtenir des données de géométrie de parcours indiquant une géométrie de parcours d'au moins une partie du réseau de transport ; déterminer, sur la base des données de géométrie de parcours, que le véhicule s'approche d'une intersection ; déterminer, sur la base des données de géométrie de parcours, une pluralité d'options d'itinéraire à partir de l'intersection ; générer une pluralité d'algorithmes de filtre d'estimation bayésienne 34 associés chacun à une option d'itinéraire respective parmi la pluralité d'options d'itinéraire et configurés pour estimer une position du véhicule sur la base des données de géométrie de parcours indicatives de l'option d'itinéraire associée, la pluralité d'algorithmes de filtre d'estimation bayésienne étant configurés pour délivrer des données indicatives de probabilités que le véhicule prenne les options d'itinéraire associées ; surveiller la délivrance de la pluralité d'algorithmes de filtre d'estimation bayésienne lorsque le véhicule traverse l'intersection ; et déterminer l'option d'itinéraire prise par le véhicule par sélection d'une option d'itinéraire, parmi la pluralité d'options d'itinéraire, qui présente la probabilité la plus élevée sur la base de la délivrance de la pluralité d'algorithmes de filtre d'estimation bayésienne.
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