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公开(公告)号：US11358606B2
公开(公告)日：2022-06-14
申请号：US17053590
申请日：2019-05-08
发明人： Christian Merfels , Bernd Rech , Daniel Wilbers , Thilo Schaper , Constanze Hungar , Niklas Koch , Florian Haubner , Simon Seitle
摘要： A method for operating a motor vehicle incorporates polling regarding the control of the motor vehicle, leading to an improvement in the working conditions of a plurality of evaluation units accessing sensor units of the motor vehicle. Control commands for controlling the motor vehicle are determined from this polling by a conflict checking unit. The conflict checking unit determines the feasibility of the control commands, taking into consideration predetermined verification criteria with regard to conflicts between the individual control commands and the practicability of the individual control commands. The conflict checking unit also determines a control specification for a vehicle control unit based on the feasibilities and certain decision criteria. Finally, the motor vehicle is controlled by use of the vehicle control unit in accordance with the control specification.
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公开(公告)号：US11127304B2
公开(公告)日：2021-09-21
申请号：US16604693
申请日：2018-04-09
发明人： Lukas Fröhlich , Christian Merfels , Bernd Rech , Thilo Schaper , Niklas Koch , Daniel Wilbers , Frederik Meysel
摘要： A method, a device, and a computer-readable storage medium with instructions for determining the location of a datum detected by a transportation vehicle wherein at least one pose estimation is ascertained. An uncertainty of the at least one pose estimation is determined wherein the uncertainty of the pose estimation includes a process of scaling an uncertainty estimation of the pose estimation, wherein the scaling process is based on a comparison of the pose estimation with a priori information. The at least one pose estimation is fused solely with at least one additional pose estimation with a weighting according to the uncertainties.
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公开(公告)号：US11532097B2
公开(公告)日：2022-12-20
申请号：US17262315
申请日：2019-07-25
发明人： Daniel Wilbers , Christian Merfels , Bernd Rech , Thilo Schaper , Niklas Koch , Stefan Jürgens , David Perdomo Lopez , Constanze Hungar
IPC分类号： G06T7/70
摘要： A method for estimating the quality of localization using sensor detection, wherein the vehicle detects dynamic objects on the road and in the direct surroundings of the road and estimates the dimensions of the objects. The movement of these objects in the near future is estimated. The outer casings of these objects are entered into a map of the surroundings. From the perspective of the sensors used to detect the features in the surroundings, the limitations of the fields of view and the predicted temporal development thereof resulting from the movement of the transportation vehicle and the predicted movements of the objects are entered into the map of the surroundings. The surrounding features that have been entered into the map of the surroundings and which may at visible in the near future are determined. An upper limit for a measure of the quality of localization is estimated.
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公开(公告)号：US20180306584A1
公开(公告)日：2018-10-25
申请号：US15767022
申请日：2016-09-14
发明人： Christian Merfels
CPC分类号： G01C21/165 , G01C22/025 , G01S19/45 , G05D1/0212 , G05D2201/0213 , G06K9/6288
摘要： Absolute position data (605) of a machine are determined for respective multiple times (t.1, t.3, t.5, t.8, t.11), and odometry position data of the machine are also determined. A pose graph (661) is generated, wherein edges (672) of the pose graph (661) correspond to the odometry position data, and nodes (671) of the pose graph (661) correspond to the absolute position data (605). The pose graph (661) is optimized to obtain an estimated position. Optionally, the odometry can also be estimated. A driver assistance functionality of the machine, for example a motor vehicle, can be controlled optionally on the basis of the estimated position. For example, the driver assistance functionality can relate to autonomous driving.
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公开(公告)号：US20240109559A1
公开(公告)日：2024-04-04
申请号：US18249443
申请日：2021-10-08
IPC分类号： B60W60/00
CPC分类号： B60W60/0015 , B60W2510/0638
摘要： The disclosure relates to a method for operating a motor vehicle at least partially autonomously, comprising obtaining at least one potential conflict area in which there is a potential for conflict with other road users, wherein, according to a planned driving maneuver, the conflict area is to be traversed by the motor vehicle. The method comprises determining at least one observation area which, for the purpose of traversing the conflict area, needs to be observed in order to avoid conflicts with the other road users; wherein at least one dimension of the observation area is determined taking into account at least one of the following:
a) a speed of the motor vehicle;
b) a type of a road user expected in the observation area;
c) an observed state of the traffic infrastructure.-
公开(公告)号：US11940291B2
公开(公告)日：2024-03-26
申请号：US17263045
申请日：2019-07-25
发明人： Daniel Wilbers , Christian Merfels , Bernd Rech , Thilo Schaper , Niklas Koch , Stefan Jürgens , David Perdomo Lopez , Constanze Hungar
IPC分类号： G01C21/00
CPC分类号： G01C21/3863 , G01C21/3811 , G01C21/3815 , G01C21/3833 , G01C21/3848 , G01C21/387
摘要： A method for updating a map of the surrounding area wherein the map is used when controlling a transportation vehicle. The transportation vehicle attempts, when travelling along a carriageway, to detect a landmark recorded in the map of the surrounding area using sensors. In response to the transportation vehicle being unable to detect the landmark using its sensors, the transportation vehicle prepares a proposal for deletion which is sent to an external central computer. The proposal for deletion is examined in the external central computer and deletes the landmark from the map of the surrounding area in response to the proposal for deletion being verified. In the method, information regarding a visibility range for the landmark is entered in the map of the surrounding area specifying at what range the landmark is visible from a road permitting a more effective detection of landmarks.
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公开(公告)号：US20210035449A1
公开(公告)日：2021-02-04
申请号：US17046075
申请日：2019-04-11
发明人： Christian Merfels , Constanze Hungar , Bernd Rech , Thilo Schaper , Daniel Wilbers , Niklas Koch , Florian Haubner , Simon Seitle
摘要： The invention relates to a method for determining traffic information with the aid of a central monitoring device which is in communication with a plurality of fleet vehicles in order to obtain traffic information from the fleet vehicles, wherein within communication with the fleet vehicles the monitoring device transmits targeted measurement requests to the fleet vehicles. In one exemplary aspect, the invention proposes that during the transmission of targeted measurement requests, the monitoring device takes account of the quality of sensors with which the individual fleet vehicle are equipped.
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公开(公告)号：US12007238B2
公开(公告)日：2024-06-11
申请号：US16719617
申请日：2019-12-18
发明人： Daniel Wilbers , Christian Merfels , Bernd Rech , Thilo Schaper , Niklas Koch , Stefan Jürgens , David Perdomo Lopez , Constanze Hungar , Stefan Wappler
CPC分类号： G01C21/30 , G01C21/3811 , G01C21/3837 , G06N5/04 , G06N20/00
摘要： A method for providing map data which include position information for first landmarks of a first landmark class, collecting environment data, and determining a position of the mobile unit. Training data are generated and stored for the first landmarks based on the position of the mobile unit, the collected environment data and the position information. Based on the training data, a first detector module is generated for detecting the first landmark class. The position determination system includes a memory unit for providing map data which include position information for first landmarks of a first landmark class, a data acquisition unit for collecting environment data, a localization unit for determining a position of the mobile unit, and a processing unit for generating and storing training data based on the position of the mobile unit, the collected environment data and the position information for the first landmarks.
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公开(公告)号：US11222543B2
公开(公告)日：2022-01-11
申请号：US17046075
申请日：2019-04-11
发明人： Christian Merfels , Constanze Hungar , Bernd Rech , Thilo Schaper , Daniel Wilbers , Niklas Koch , Florian Haubner , Simon Seitle
摘要： The invention relates to a method for determining traffic information with the aid of a central monitoring device which is in communication with a plurality of fleet vehicles in order to obtain traffic information from the fleet vehicles, wherein within communication with the fleet vehicles the monitoring device transmits targeted measurement requests to the fleet vehicles. In one exemplary aspect, the invention proposes that during the transmission of targeted measurement requests, the monitoring device takes account of the quality of sensors with which the individual fleet vehicle are equipped.
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公开(公告)号：US20210341293A1
公开(公告)日：2021-11-04
申请号：US17286690
申请日：2019-10-02
发明人： Moritz Schack , Christian Merfels
摘要： The invention relates to a method for determining a model of the environment of a vehicle, in which method an initial position estimate for the vehicle is acquired and map data are acquired, wherein the map data comprise information about the spatial arrangement of geographical areas, and the geographical areas are assigned to different area categories. Environmental data within an acquisition space is acquired, and objects are detected using the environmental data, wherein an object position and an object category are assigned to each detected object. The environmental model is determined using the detected objects. Assignment rules are provided which define the assignment of the object categories to the area categories, wherein the objects are detected in accordance with the assignment rules.
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