公开(公告)号：US20230011156A1

公开(公告)日：2023-01-12

申请号：US17860936

申请日：2022-07-08

申请人： Cariad SE ,  Volkswagen Aktiengesellschaft

发明人： Sven-Garrit Czarnian ,  Thomas Dammeier ,  Michael Holicki ,  Ralph Hänsel ,  Timo Iken ,  Roland Kube ,  Carolin Last ,  Stefan Wappler

IPC分类号： B60W60/00 ,  B60W40/105 ,  G06V20/56 ,  G06V20/58 ,  G01S13/931

摘要： According to a method for self-localization of a vehicle, a first pose of the vehicle is determined in a map coordinates system, based on environment sensor data representing an environment of the vehicle, a landmark is detected in the environment, a position of the landmark is determined in the map coordinates system and a second pose of the vehicle is determined in the map coordinates system dependent on the position of the landmark. An assignment instruction is consulted, matching up the first pose with at last one preferred sensor type or at least one dominant landmark type. Depending on the assignment instruction, a first environment sensor system is activated and a second environment sensor system is deactivated, whereupon the environment sensor data are generated by means of the first environment sensor system.

公开(公告)号：US20230079899A1

公开(公告)日：2023-03-16

申请号：US17899361

申请日：2022-08-30

申请人： CARIAD SE ,  Volkswagen Aktiengesellschaft

发明人： Michael Holicki ,  Ralph Hänsel ,  Timo Iken ,  Roland Kube ,  Carolin Last ,  Stefan Wappler

IPC分类号： G01C21/30

摘要： To determine an absolute position of a vehicle, the vehicle is moved along a trajectory starting from the absolute initial position. The trajectory is sensed by odometry starting from a defined initial position, which is associated with the absolute initial position. Three objects are detected from the vehicle which is on the trajectory. At each detection, a detection beam is sensed. The trajectory with the detection beams are matched with a map. Finally, the absolute initial position is determined from the matching.

公开(公告)号：US12078491B2

公开(公告)日：2024-09-03

申请号：US17861035

申请日：2022-07-08

申请人： Cariad SE ,  Volkswagen Aktiengesellschaft

发明人： Michael Holicki ,  Ralph Hänsel ,  Timo Iken ,  Christian Jördens ,  Roland Kube ,  Carolin Last ,  Stefan Wappler

IPC分类号： G01C21/30 ,  G06T7/73

CPC分类号： G01C21/30 ,  G06T7/73 ,  G06T2207/30256

摘要： According to a method for self-localization of a vehicle, a first pose of the vehicle is determined. Environment sensor data are generated by means of an environment sensor device and on the basis of this a landmark is detected in the environment. A position of the landmark is determined and in dependence on this a second pose of the vehicle is determined. A memorized assignment instruction is consulted, matching up the first pose with at last one preferred sensor type or at least one dominant landmark type, and depending on this a first portion of the environment sensor data is selected that was generated by means of a first environment sensor system of the environment sensor device configured according to a first sensor type. For the detecting of the landmark, a first landmark detection algorithm is applied to the first portion of the environment sensor data.

公开(公告)号：US20230009978A1

公开(公告)日：2023-01-12

申请号：US17861035

申请日：2022-07-08

申请人： Cariad SE ,  Volkswagen Aktiengesellschaft

发明人： Michael Holicki ,  Ralph Hänsel ,  Timo Iken ,  Christian Jördens ,  Roland Kube ,  Carolin Last ,  Stefan Wappler

IPC分类号： G01C21/30 ,  G06T7/73

摘要： According to a method for self-localization of a vehicle, a first pose of the vehicle is determined. Environment sensor data are generated by means of an environment sensor device and on the basis of this a landmark is detected in the environment. A position of the landmark is determined and in dependence on this a second pose of the vehicle is determined. A memorized assignment instruction is consulted, matching up the first pose with at last one preferred sensor type or at least one dominant landmark type, and depending on this a first portion of the environment sensor data is selected that was generated by means of a first environment sensor system of the environment sensor device configured according to a first sensor type. For the detecting of the landmark, a first landmark detection algorithm is applied to the first portion of the environment sensor data.

公开(公告)号：US20230009073A1

公开(公告)日：2023-01-12

申请号：US17860930

申请日：2022-07-08

申请人： Cariad SE

发明人： Michael Holicki ,  Ralph Hänsel ,  Timo Iken ,  Roland Kube ,  Carolin Last ,  Stefan Wappler

IPC分类号： G08G1/14 ,  G06V20/58

摘要： According to a method for self-localization, a vehicle is detected by a vehicle-external sensor system of a parking infrastructure when it is located in a detection region of the vehicle-external sensor system. By way of a vehicle-external communication interface of the parking infrastructure, position information regarding the detection region is relayed in dependence on the detection of the vehicle to at least one vehicle computer unit and an initial pose of the vehicle is determined by the at least one vehicle computer unit in dependence on the position information.