- 专利标题: Method and Device for Determining a Trajectory of a Vehicle
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申请号: US17636119申请日: 2020-07-28
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公开(公告)号: US20220290991A1公开(公告)日: 2022-09-15
- 发明人: Martin LIEBNER , David PANNEN , Thomas SCHUTZMEIER
- 申请人: Bayerische Motoren Werke Aktiengesellschaft
- 申请人地址: DE Muenchen
- 专利权人: Bayerische Motoren Werke Aktiengesellschaft
- 当前专利权人: Bayerische Motoren Werke Aktiengesellschaft
- 当前专利权人地址: DE Muenchen
- 优先权: DE102019123538.3 20190903
- 国际申请: PCT/EP2020/071205 WO 20200728
- 主分类号: G01C21/00
- IPC分类号: G01C21/00 ; G01C21/16 ; G01S19/39 ; G01S19/47 ; G01S19/40
摘要:
A device estimates an actual trajectory of a vehicle. The device is designed to determine a sequence of measured position values over a corresponding sequence of times by use of a position sensor. The device is further designed to determine a sequence of odometry values on the basis of sensor data from one or more vehicle sensors. The device is also designed to determine, as an estimation of the actual trajectory of the vehicle, a sequence of estimated pose values for the sequence of times and a systematic position offset for the sequence of measured position values so that an optimization criterion is improved, in particular is optimized at least locally.