The present disclosure relates to a method (100, 200), system (10) and computer program product for determining a map position of an ego-vehicle (1). The method includes acquiring (101) map data comprising a road geometry, initializing (102) at least one dynamic landmark by measuring a position and velocity, relative to the ego-vehicle, of a surrounding vehicle (2a, 2b, 2c), and determining (105) a first map position of the surrounding vehicle based on this measurement and the geographical position of the ego-vehicle. Further, the method includes predicting a second map position (106) of the surrounding vehicle, and measuring (107) a location, relative to the ego-vehicle, of the surrounding vehicle when it is estimated to be at the second map position, whereby the geographical position of the ego-vehicle can be computed and updated.


    Access

    Download


    Export, share and cite



    Title :

    LOCALIZATION USING DYNAMIC LANDMARKS


    Additional title:

    ORTSBESTIMMUNG MITHILFE DYNAMISCHER LANDMARKEN
    LOCALISATION À L'AIDE DE REPÈRES DYNAMIQUES


    Contributors:

    Publication date :

    2024-07-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



    Aerial Vehicle Localization Using Generic Landmarks

    DeAngelo, Mark P. / Horn, Joseph F. | AIAA | 2017


    Lunar Rover Localization Using Craters as Landmarks

    Matthies, Larry / Daftry, Shreyansh / Tepsuporn, Scott et al. | IEEE | 2022


    Vehicle localization using cooperative RF-based landmarks

    Kloeden, H. / Schwarz, D. / Biebl, E. M. et al. | IEEE | 2011


    Lunar Rover Localization Using Craters as Landmarks

    Ono, M. / Ravichandar, S. / Swan, R. M. et al. | NTRS | 2022


    Vehicle Localization Using Cooperative RF-Based Landmarks

    Kloeden, H. / Schwarz, D. / Biebl, E. et al. | British Library Conference Proceedings | 2011