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.
LOCALIZATION USING DYNAMIC LANDMARKS
ORTSBESTIMMUNG MITHILFE DYNAMISCHER LANDMARKEN
LOCALISATION À L'AIDE DE REPÈRES DYNAMIQUES
2024-07-31
Patent
Electronic Resource
English
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 |
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