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公开(公告)号：US20190171224A1
公开(公告)日：2019-06-06
申请号：US16204643
申请日：2018-11-29
摘要： In a method for self-positioning a vehicle in its environment, the environment is detected by means of an environmental sensor system, and a map is created in the first step during vehicle travel. In a second step, the environmental sensor system perceives features and compares them with the previously created map for self-positioning. In this case, the environmental sensor system is formed by a radar sensor system, wherein the radar sensor system ascertains reflection points to create the map, sorts-out nonstationary reflection points and only uses stationary reflection points, and for self-positioning the vehicle, the reflection points determined during travel are compared with those in the map in order to determine the position of the vehicle in the map.
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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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