WO2013029742A1 - Method for determining the position of a motor vehicle - Google Patents
Method for determining the position of a motor vehicle Download PDFInfo
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- WO2013029742A1 WO2013029742A1 PCT/EP2012/003360 EP2012003360W WO2013029742A1 WO 2013029742 A1 WO2013029742 A1 WO 2013029742A1 EP 2012003360 W EP2012003360 W EP 2012003360W WO 2013029742 A1 WO2013029742 A1 WO 2013029742A1
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- motor vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Definitions
- the present invention relates to a method for determining the position of a motor vehicle. Moreover, the present invention relates to a motor vehicle.
- An exact determination of the position of a motor vehicle is of great importance for navigation systems and driver assistance systems.
- satellite positioning systems such as GPS are usually used. However, measuring tolerances of up to 20 meters can occur.
- map matching in which the measured position is adjusted by means of a digital map, the position determination of a motor vehicle can be improved. In this case, information about the speed of the motor vehicle is taken into account.
- the motor vehicle can only move on predetermined roads. In the satellite-based navigation, especially errors occur with respect to the longitudinal positioning of the motor vehicle. These usually arise during long journeys on straight stretches.
- DE 2009 045 326 A1 describes a method for constructing a database for determining the position of a vehicle with the aid of natural landmarks. Before reaching a landmark, images of the surroundings of the vehicle are taken and at least two natural landmarks are determined from the environmental images. In this case, the current position of the vehicle is detected, for example, with a satellite-based location system, and the current position of the vehicle is compared with the landmarks in a digital road map.
- the vehicle system comprises a position module with which the position of the vehicle is determined by means of a satellite transmitter. sors and at least one environmental sensor of the vehicle is determined in order to improve the position determination.
- the position of the vehicle can also be transmitted to a digital map of a navigation unit and thus be used for a driver assistance system.
- DE 10 2009 045 709 A1 relates to a position determining device for a vehicle, in which the position of the vehicle is determined by a satellite navigation receiver. In a subsequent step, the determined position of the vehicle is validated. For validation, position data are also transmitted, which are transmitted to the position-determining device by means of vehicle-to-vehicle communication or vehicle-to-infrastructure communication.
- the object of the present invention is to show a way how the determination of the position of a motor vehicle can be improved in a simple manner.
- the method according to the invention for determining a position of a motor vehicle comprises the following steps:
- an object is detected whose position is deposited on a corresponding digital map or road map.
- the distance from the motor vehicle to this object can, for. B. be determined with a sensor device of the motor vehicle. Based on this distance and the information from the digital map, the position of the motor vehicle can be determined more accurately than is possible, for example, with a satellite positioning system.
- a satellite positioning system For example, several objects in the environment of the motor vehicle can be detected and thus - for example by triangulation - the distance between the motor vehicle and the object can be determined even more accurately. This more accurate information allows improved navigation of the motor vehicle.
- driver assistance systems that require information about the position of the motor vehicle can be operated more reliably.
- a relative position of the object relative to the motor vehicle is preferably determined.
- the position of the object to the motor vehicle with respect to two spatial directions can be detected.
- information from vehicle sensors can also be used in addition to the digital map. For example, the speed, the acceleration or the steering angle of the motor vehicle can be taken into account. It can also be done a corresponding map matching.
- a position information of the object in relation to the motor vehicle can be determined and the position of the motor vehicle can be determined even more accurately.
- the position of the motor vehicle is also determined by means of a satellite positioning system and this position is verified and / or corrected on the basis of the position determined in step d). Since the position of the motor vehicle determined with a satellite positioning system can usually result in measurement tolerances in the range of up to 20 meters, the position of the motor vehicle can be corrected on the basis of the position determined by the position of the object and the determined distance. Thus, the position of the motor vehicle can be reliably determined and a more reliable navigation of the motor vehicle can be made possible.
- the position determined with the satellite positioning system can also be used to identify the object. In this case, a corresponding area in the digital map can be searched for objects stored there on the basis of the position. Thus, based on the position information of the satellite positioning system, the detected object can be uniquely determined.
- a traffic sign, a traffic system, a building or a roadway is detected as the object.
- object non-moving objects or landmarks are usually detected.
- traffic lights traffic lights, street lights or the like can be detected.
- tunnels, bridges or other buildings can be recorded. Such objects are available everywhere and thus the position can be reliably determined based on these objects.
- the motor vehicle according to the invention comprises a sensor device for detecting at least one object in an environment of the motor vehicle, a detection device for determining a distance between the motor vehicle and the object, a memory device on which a digital map is stored, and a control device for determining the position of the object based on the digital map and for determining the position of the motor vehicle based on the position of the object and the determined distance.
- the sensor device comprises a camera.
- a camera or other optical sensor device is usually present in a motor vehicle, for example as part of a driver assistance system. Therefore, there are no additional costs for installation and also space can be saved.
- an image processing program is stored in a memory of the detection device and the detection device brings this to determine the distance between the motor vehicle and the object to the process. So z. B. be determined based on the dimensions of the detected object by means of an image processing program, the distance to the object. For this purpose, corresponding properties of the objects can be stored in the digital map or in another data memory. As a detection device and the camera of the sensor device or, for example, two cameras can be used. Thus, the distance between the motor vehicle and the object can be determined with a high accuracy of measurement in a simple manner.
- control device is coupled to a data bus with the detection device.
- the sensor device and corresponding data memory can also be connected to the data bus.
- the Data with information about the distance between the motor vehicle and the object can be transmitted particularly easily to the control device.
- FIG. 1 shows a schematic representation of a motor vehicle, in the environment of which an object is located.
- the figure shows a schematic representation of a motor vehicle 10 in a plan view.
- the motor vehicle 10 is located on a roadway 12.
- an object 14 which is shown here only schematically.
- the object 14 is preferably not movable.
- the object 14 may be, for example, a traffic sign, a traffic light, a street lamp, a tunnel, a bridge, a building or another landmark.
- the motor vehicle 10 includes a sensor device 16, with which the object 14 is detected in the environment of the motor vehicle 10.
- the sensor device 16 is an optical sensor, for example a camera.
- the motor vehicle 10 comprises a detection device 18, with the distance between see the motor vehicle 10 and the object 14 can be determined.
- the detection device 18 may be a distance sensor which emits an optical or electromagnetic signal and determines the transit time of the signal reflected by the object 14 and calculates therefrom the distance between the motor vehicle 10 and the object 14.
- a camera for example the camera of the sensor device 16, can also be used as the detection device 18.
- On a memory of the detection device 18, a corresponding image processing program is stored. To determine the distance between the motor vehicle 10 and the object 14, this is brought by the detection device 18 to drain.
- the motor vehicle 10 includes a memory device 20, on which a digital map is stored. On this digital map or road map and the objects 14 and their position are stored. Information about the properties of the objects 14 is also stored in the memory device 20 or in another memory. Such information may include the dimensions of the object 14.
- the object 14 is detected in the environment of the motor vehicle 10. After the detection of the object 14, the sensor device 16 transmits a signal to a control device 22 of the motor vehicle 10.
- the detection device 18, with which the distance between the motor vehicle 10 and the object 14 is determined, is then activated by the control device 22.
- the detection device 18 is also designed to determine the relative position of the motor vehicle 10 with respect to the object 14. For this purpose, the speed or the steering angle of the motor vehicle 10 can be taken into account, which are determined with corresponding sensors of the motor vehicle 10. From the detection device 18, data which contain information regarding the distance or the relative position between the motor vehicle 10 and the object 14 are transmitted to the control device 22.
- the controller 22 accesses the memory device 20 and detects the detected object 14 in the digital map.
- the position of the object 14 is also stored in the digital map.
- the position of the motor vehicle 10 is determined by the control device 22 on the basis of the position of the object 14 and on the basis of the determined distance between the motor vehicle 10 and the object 14.
- the sensor device 16, the detection device 18, the memory device 20 and the control device 22 are connected to a data bus 24.
- the data bus 24 may be, for example, a CAN bus of the motor vehicle 10.
- the data bus 24 may also have a different topology than that shown in the figure.
- the controller 22 may also receive a position signal of the motor vehicle 10 from a satellite positioning system such as GPS or the like. On the basis of this position information, it is possible with the control device 22 to determine the objects 14 in the environment of the motor vehicle 10 which are stored in a corresponding section or area of the digital map. By a corresponding adjustment of the data between the sensor device 16 and the control device 22, the object 14 can be uniquely determined.
- a satellite positioning system such as GPS or the like.
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Abstract
Description
Verfahren zum Bestimmen der Position eines Kraftfahrzeugs Method for determining the position of a motor vehicle
BESCHREIBUNG: Die vorliegende Erfindung betrifft ein Verfahren zum Bestimmen der Position eines Kraftfahrzeugs. Überdies betrifft die vorliegende Erfindung ein Kraftfahrzeug. DESCRIPTION: The present invention relates to a method for determining the position of a motor vehicle. Moreover, the present invention relates to a motor vehicle.
Eine möglichst exakte Bestimmung der Position eines Kraftfahrzeugs ist für Navigationssysteme und Fahrerassistenzsysteme von großer Bedeutung. Zur Bestimmung der Position eines Kraftfahrzeugs werden üblicherweise Satellitenortungssysteme wie GPS verwendet. Hierbei können allerdings Messtoleranzen bis zu 20 Metern auftreten. Mit Hilfe eines Kartenabgleichs (Map Matching), bei dem die gemessene Position mittels einer digitalen Kar- te abgeglichen wird, kann die Positionsbestimmung eines Kraftfahrzeugs verbessert werden. Hierbei werden Informationen über die Geschwindigkeit des Kraftfahrzeugs berücksichtigt. Zusätzlich wird berücksichtigt, dass sich das Kraftfahrzeug nur auf vorgegebenen Straßen bewegen kann. Bei der satellitengestützten Navigation treten vor allem Fehler bezüglich der Längs- Positionierung des Kraftfahrzeugs auf. Diese entstehen üblicherweise bei langen Fahrten auf geraden Strecken. An exact determination of the position of a motor vehicle is of great importance for navigation systems and driver assistance systems. To determine the position of a motor vehicle satellite positioning systems such as GPS are usually used. However, measuring tolerances of up to 20 meters can occur. With the help of a map matching, in which the measured position is adjusted by means of a digital map, the position determination of a motor vehicle can be improved. In this case, information about the speed of the motor vehicle is taken into account. In addition, it is considered that the motor vehicle can only move on predetermined roads. In the satellite-based navigation, especially errors occur with respect to the longitudinal positioning of the motor vehicle. These usually arise during long journeys on straight stretches.
Die DE 2009 045 326 A1 beschreibt ein Verfahren zum Aufbau einer Datenbank zur Positionsbestimmung eines Fahrzeugs mit Hilfe von natürlichen Landmarken. Vor dem Erreichen einer Landmarke werden Bilder der Umgebung des Fahrzeugs aufgenommen und aus den Umgebungsbildern zumindest zwei natürliche Landmarken bestimmt. Hierbei wird die aktuelle Position des Fahrzeugs beispielsweise mit einem satellitengestützten Ortungssystem erfasst und die aktuelle Position des Fahrzeugs zusammen mit den Land- marken in einer digitalen Straßenkarte verglichen. DE 2009 045 326 A1 describes a method for constructing a database for determining the position of a vehicle with the aid of natural landmarks. Before reaching a landmark, images of the surroundings of the vehicle are taken and at least two natural landmarks are determined from the environmental images. In this case, the current position of the vehicle is detected, for example, with a satellite-based location system, and the current position of the vehicle is compared with the landmarks in a digital road map.
Aus der DE 10 2009 008 959 A1 ist ein Fahrzeugsystem zur Navigation und/oder Fahrerassistenz bekannt. Das Fahrzeugsystem umfasst ein Positionsmodul mit dem die Position des Fahrzeugs anhand eines Satellitensen- sors und zumindest eines Umfeldsensors des Fahrzeugs bestimmt wird, um die Positionsbestimmung zu verbessern. Die Position des Fahrzeugs kann auch an eine digitale Karte einer Navigationseinheit übermittelt werden und somit für ein Fahrerassistenzsystem genutzt werden. From DE 10 2009 008 959 A1 a vehicle system for navigation and / or driver assistance is known. The vehicle system comprises a position module with which the position of the vehicle is determined by means of a satellite transmitter. sors and at least one environmental sensor of the vehicle is determined in order to improve the position determination. The position of the vehicle can also be transmitted to a digital map of a navigation unit and thus be used for a driver assistance system.
Die DE 10 2009 045 709 A1 betrifft eine Positionsbestimmungseinrichtung für ein Fahrzeug, bei der die Position des Fahrzeugs mit einem Satellitennavigationsempfänger ermittelt wird. In einem Folgeschritt wird die ermittelte Position des Fahrzeugs validiert. Zur Validierung werden auch Positionsda- ten genutzt, die mittels Fahrzeug-zu-Fahrzeug-Kommunikation oder Fahr- zeug-zu-lnfrastruktur-Kommunikation an die Positionsbestimmungseinrichtung übertragen werden. DE 10 2009 045 709 A1 relates to a position determining device for a vehicle, in which the position of the vehicle is determined by a satellite navigation receiver. In a subsequent step, the determined position of the vehicle is validated. For validation, position data are also transmitted, which are transmitted to the position-determining device by means of vehicle-to-vehicle communication or vehicle-to-infrastructure communication.
Die Aufgabe der vorliegenden Erfindung besteht darin, einen Weg aufzuzei- gen, wie die Bestimmung der Position eines Kraftfahrzeugs auf einfache Weise verbessert werden kann. The object of the present invention is to show a way how the determination of the position of a motor vehicle can be improved in a simple manner.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren gemäß Patentanspruch 1 und durch ein Kraftfahrzeug gemäß Patentanspruch 5 gelöst. Vor- teilhaft Weiterbildungen der vorliegenden Erfindung sind in den Unteransprüchen angegeben. This object is achieved by a method according to claim 1 and by a motor vehicle according to claim 5. Advantageous developments of the present invention are specified in the subclaims.
Das erfindungsgemäße Verfahren zum Bestimmen einer Position eines Kraftfahrzeugs umfasst die folgenden Schritte: The method according to the invention for determining a position of a motor vehicle comprises the following steps:
a) Erfassen zumindest eines Objekts in einem Umfeld des Kraftfahrzeugs, b) Ermitteln der Position des Objekts anhand einer digitalen Landkarte, c) Ermitteln eines Abstands zwischen dem Kraftfahrzeug und dem Objekt, und a) detecting at least one object in an environment of the motor vehicle, b) determining the position of the object on the basis of a digital map, c) determining a distance between the motor vehicle and the object, and
d) Bestimmen der Position des Kraftfahrzeugs anhand der Position des Objekts und des ermittelten Abstands. d) determining the position of the motor vehicle based on the position of the object and the determined distance.
Zunächst wird ein Objekt erfasst, dessen Position ein einer entsprechenden digitalen Landkarte bzw. Straßenkarte hinterlegt ist. Der Abstand von dem Kraftfahrzeug zu diesem Objekt kann z. B. mit einer Sensoreinrichtung des Kraftfahrzeugs bestimmt werden. Anhand dieses Abstands und der Information aus der digitalen Landkarte kann die Position des Kraftfahrzeugs genauer bestimmt werden, als dies beispielsweise mit einem Satellitenortungssystem möglich ist. Hierbei können auch mehrere Objekte im Umfeld des Kraftfahrzeugs erfasst werden und somit - beispielsweise mittels Triangulation - der Abstand zwischen dem Kraftfahrzeug und dem Objekt noch genauer bestimmt werden. Durch diese genauere Information kann eine verbesserte Navigation des Kraftfahrzeugs ermöglicht werden. Zudem können Fahrerassistenzsysteme, die eine Information über die Position des Kraftfahrzeugs benötigen, zuverlässiger betrieben werden. First, an object is detected whose position is deposited on a corresponding digital map or road map. The distance from the motor vehicle to this object can, for. B. be determined with a sensor device of the motor vehicle. Based on this distance and the information from the digital map, the position of the motor vehicle can be determined more accurately than is possible, for example, with a satellite positioning system. Here, several objects in the environment of the motor vehicle can be detected and thus - for example by triangulation - the distance between the motor vehicle and the object can be determined even more accurately. This more accurate information allows improved navigation of the motor vehicle. In addition, driver assistance systems that require information about the position of the motor vehicle can be operated more reliably.
Bevorzugt wird bei Durchführung des Verfahrens im Schritt c) eine relative Lage des Objekts in Bezug zu dem Kraftfahrzeug bestimmt. Hierbei kann die Lage des Objekts zu dem Kraftfahrzeug bezüglich zweier Raumrichtungen erfasst werden. Zur Bestimmung der relativen Lage des Objekts zu dem Kraftfahrzeug können zusätzlich zu der digitalen Landkarte auch Information von Fahrzeugsensoren genutzt werden. So kann beispielsweise die Geschwindigkeit, die Beschleunigung oder der Lenkwinkel des Kraftfahrzeugs berücksichtigt werden. Dabei kann auch ein entsprechender Kartenabgleich erfolgen. Somit kann zusätzlich zum Abstand auch eine Lageinformation des Objekts in Bezug zu dem Kraftfahrzeug ermittelt werden und die Position des Kraftfahrzeugs noch genauer bestimmt werden. When carrying out the method in step c), a relative position of the object relative to the motor vehicle is preferably determined. In this case, the position of the object to the motor vehicle with respect to two spatial directions can be detected. To determine the relative position of the object to the motor vehicle, information from vehicle sensors can also be used in addition to the digital map. For example, the speed, the acceleration or the steering angle of the motor vehicle can be taken into account. It can also be done a corresponding map matching. Thus, in addition to the distance, a position information of the object in relation to the motor vehicle can be determined and the position of the motor vehicle can be determined even more accurately.
In einer weiteren Ausführungsform wird die Position des Kraftfahrzeugs auch mit einem Satellitenortungssystem bestimmt und diese Position wird anhand der in Schritt d) bestimmten Position verifiziert und/oder korrigiert. Da bei der mit einem Satellitenortungssystem ermittelten Position des Kraftfahrzeugs üblicherweise Messtoleranzen im Bereich von bis zu 20 Metern auftreten können, kann die Position des Kraftfahrzeugs anhand der Position, die an- hand der Position des Objekts und des ermittelten Abstands bestimmt wurde, korrigiert werden. Somit kann die Position des Kraftfahrzeugs zuverlässig bestimmt werden und eine zuverlässigere Navigation des Kraftfahrzeugs ermöglicht werden. Die mit dem Satellitenortungssystem ermittelte Position kann auch zum Identifizieren des Objekts genutzt werden. Hierbei kann anhand der Position ein entsprechender Bereich in der digitalen Landkarte nach dort gespeicherten Objekten durchsucht werden. Somit kann anhand der Positionsinformation des Satellitenortungssystems das erfasste Objekt eindeutig bestimmt wer- den. In a further embodiment, the position of the motor vehicle is also determined by means of a satellite positioning system and this position is verified and / or corrected on the basis of the position determined in step d). Since the position of the motor vehicle determined with a satellite positioning system can usually result in measurement tolerances in the range of up to 20 meters, the position of the motor vehicle can be corrected on the basis of the position determined by the position of the object and the determined distance. Thus, the position of the motor vehicle can be reliably determined and a more reliable navigation of the motor vehicle can be made possible. The position determined with the satellite positioning system can also be used to identify the object. In this case, a corresponding area in the digital map can be searched for objects stored there on the basis of the position. Thus, based on the position information of the satellite positioning system, the detected object can be uniquely determined.
In einer vorteilhaften Ausführungsform wird als Objekt ein Verkehrszeichen, eine Verkehrsanlage, ein Gebäude oder eine Fahrbahn erfasst. Als Objekt werden üblicherweise nicht bewegliche Objekte bzw. Landmarken erfasst. Als Verkehrsanlagen können Ampeln, Straßenleuchten oder dergleichen erfasst werden. Zudem können auch Tunnel, Brücken oder andere Gebäude erfasst werden. Solche Objekte sind flächendeckend vorhanden und somit kann die Position anhand dieser Objekte zuverlässig bestimmt werden. In an advantageous embodiment, a traffic sign, a traffic system, a building or a roadway is detected as the object. As an object, non-moving objects or landmarks are usually detected. As traffic lights traffic lights, street lights or the like can be detected. In addition, tunnels, bridges or other buildings can be recorded. Such objects are available everywhere and thus the position can be reliably determined based on these objects.
Das erfindungsgemäße Kraftfahrzeug umfasst eine Sensoreinrichtung zum Erfassen zumindest eines Objekts in einem Umfeld des Kraftfahrzeugs, eine Erfassungseinrichtung zum Ermitteln eines Abstands zwischen dem Kraftfahrzeug und dem Objekt, eine Speichereinrichtung, auf der eine digitale Landkarte hinterlegt ist, und eine Steuereinrichtung zum Ermitteln der Position des Objekts anhand der digitalen Landkarte und zum Bestimmen der Position des Kraftfahrzeugs anhand der Position des Objekts und des ermittelten Abstands. Die zuvor im Zusammenhang mit dem erfindungsgemäßen Verfahren beschriebenen Weiterbildungen sind in analoger Weise die des erfindungsgemäßen Kraftfahrzeugs. The motor vehicle according to the invention comprises a sensor device for detecting at least one object in an environment of the motor vehicle, a detection device for determining a distance between the motor vehicle and the object, a memory device on which a digital map is stored, and a control device for determining the position of the object based on the digital map and for determining the position of the motor vehicle based on the position of the object and the determined distance. The developments described above in connection with the method according to the invention are analogous to those of the motor vehicle according to the invention.
In einer Ausführungsform umfasst die Sensoreinrichtung eine Kamera. Eine Kamera oder eine andere optische Sensoreinrichtung ist üblicherweise in einem Kraftfahrzeug - beispielsweise als Teil eines Fahrerassistenzsystems - vorhanden. Daher entstehen keine zusätzlichen Kosten für den Einbau und zudem kann Bauraum eingespart werden. In einer weiteren Ausgestaltung ist ein Bildverarbeitungsprogramm in einem Speicher der Erfassungseinrichtung abgelegt und die Erfassungseinrichtung bringt dieses zum Ermitteln des Abstands zwischen dem Kraftfahrzeug und dem Objekt zum Ablauf. So kann z. B. anhand der Abmessungen des erfass- ten Objekts mittels eines Bildverarbeitungsprogramms der Abstand zu dem Objekt ermittelt werden. Zu diesem Zweck können entsprechende Eigenschaften der Objekte in der digitalen Landkarte oder in einem anderen Datenspeicher abgelegt sein. Als Erfassungseinrichtung kann auch die Kamera der Sensoreinrichtung oder beispielsweise zwei Kameras genutzt werden. Somit kann auf einfache Weise der Abstand zwischen dem Kraftfahrzeug und dem Objekt mit einer hohen Messgenauigkeit bestimmt werden. In one embodiment, the sensor device comprises a camera. A camera or other optical sensor device is usually present in a motor vehicle, for example as part of a driver assistance system. Therefore, there are no additional costs for installation and also space can be saved. In a further embodiment, an image processing program is stored in a memory of the detection device and the detection device brings this to determine the distance between the motor vehicle and the object to the process. So z. B. be determined based on the dimensions of the detected object by means of an image processing program, the distance to the object. For this purpose, corresponding properties of the objects can be stored in the digital map or in another data memory. As a detection device and the camera of the sensor device or, for example, two cameras can be used. Thus, the distance between the motor vehicle and the object can be determined with a high accuracy of measurement in a simple manner.
Bevorzugt ist die Steuereinrichtung mit einem Datenbus mit der Erfassungseinrichtung gekoppelt. Auch die Sensoreinrichtung und entsprechende Datenspeicher können mit dem Datenbus verbunden sein. Somit können die Daten mit Informationen über Abstand zwischen dem Kraftfahrzeug und dem Objekt besonders einfach an die Steuereinrichtung übermittelt werden. Preferably, the control device is coupled to a data bus with the detection device. The sensor device and corresponding data memory can also be connected to the data bus. Thus, the Data with information about the distance between the motor vehicle and the object can be transmitted particularly easily to the control device.
Die vorliegende Erfindung wird nun anhand der beigefügten Zeichnung näher erläutert. Dabei zeigt die Figur eine schematische Darstellung eines Kraftfahrzeugs, in dessen Umfeld sich ein Objekt befindet. The present invention will now be explained in more detail with reference to the accompanying drawings. The figure shows a schematic representation of a motor vehicle, in the environment of which an object is located.
Die Fig. zeigt eine schematische Darstellung eines Kraftfahrzeugs 10 in einer Draufsicht. Das Kraftfahrzeug 10 befindet sich auf einer Fahrbahn 12. Im Umfeld des Kraftfahrzeugs 10 befindet sich ein Objekt 14, das vorliegend nur schematisch dargestellt ist. Das Objekt 14 ist bevorzugt nicht beweglich. Das Objekt 14 kann beispielsweise ein Verkehrszeichen, eine Ampel, eine Straßenleuchte, ein Tunnel, eine Brücke, ein Gebäude oder eine andere Landmarke sein. The figure shows a schematic representation of a motor vehicle 10 in a plan view. The motor vehicle 10 is located on a roadway 12. In the environment of the motor vehicle 10 is an object 14, which is shown here only schematically. The object 14 is preferably not movable. The object 14 may be, for example, a traffic sign, a traffic light, a street lamp, a tunnel, a bridge, a building or another landmark.
Das Kraftfahrzeug 10 umfasst eine Sensoreinrichtung 16, mit der das Objekt 14 im Umfeld des Kraftfahrzeugs 10 erfasst wird. Die Sensoreinrichtung 16 ist ein optischer Sensor, beispielsweise eine Kamera. Überdies umfasst das Kraftfahrzeug 10 eine Erfassungseinrichtung 18, mit der ein Abstand zwi- sehen dem Kraftfahrzeug 10 und dem Objekt 14 ermittelt werden kann. Die Erfassungseinrichtung 18 kann ein Abstandsensor sein, der ein optisches oder elektromagnetisches Signal aussendet und die Laufzeit des von dem Objekt 14 reflektierten Signals bestimmt und daraus den Abstand zwischen dem Kraftfahrzeug 10 und dem Objekt 14 berechnet. Als Erfassungseinrich- tung 18 kann auch eine Kamera, beispielsweise die Kamera der Sensoreinrichtung 16 verwendet werden. Auf einem Speicher der Erfassungseinrichtung 18 ist ein entsprechendes Bildverarbeitungsprogramm abgelegt. Zum Ermitteln des Abstands zwischen dem Kraftfahrzeug 10 und dem Objekt 14 wird dieses von der Erfassungseinrichtung 18 zum Ablauf gebracht. The motor vehicle 10 includes a sensor device 16, with which the object 14 is detected in the environment of the motor vehicle 10. The sensor device 16 is an optical sensor, for example a camera. Moreover, the motor vehicle 10 comprises a detection device 18, with the distance between see the motor vehicle 10 and the object 14 can be determined. The detection device 18 may be a distance sensor which emits an optical or electromagnetic signal and determines the transit time of the signal reflected by the object 14 and calculates therefrom the distance between the motor vehicle 10 and the object 14. A camera, for example the camera of the sensor device 16, can also be used as the detection device 18. On a memory of the detection device 18, a corresponding image processing program is stored. To determine the distance between the motor vehicle 10 and the object 14, this is brought by the detection device 18 to drain.
Des Weiteren umfasst das Kraftfahrzeug 10 eine Speichereinrichtung 20, auf der eine digitale Landkarte hinterlegt ist. Auf dieser digitalen Landkarte bzw. Straßenkarte sind auch die Objekte 14 und deren Position gespeichert. In der Speichereinrichtung 20 oder in einem anderen Speicher sind auch Infor- mationen über die Eigenschaften der Objekte 14 abgelegt. Solche Informationen können die Abmessungen des Objekts 14 beinhalten. Furthermore, the motor vehicle 10 includes a memory device 20, on which a digital map is stored. On this digital map or road map and the objects 14 and their position are stored. Information about the properties of the objects 14 is also stored in the memory device 20 or in another memory. Such information may include the dimensions of the object 14.
Von der Sensoreinrichtung 16 wird das Objekt 14 im Umfeld des Kraftfahrzeugs 10 erfasst. Nach dem Erfassen des Objekts 14 wird von der Sensor- einrichtung 16 ein Signal an eine Steuereinrichtung 22 des Kraftfahrzeugs 10 übermittelt. Daraufhin wird die Erfassungseinrichtung 18, mit der der Abstand zwischen dem Kraftfahrzeug 10 und dem Objekt 14 ermittelt wird, von der Steuereinrichtung 22 aktiviert. Die Erfassungseinrichtung 18 ist auch dazu ausgebildet, die relative Lage des Kraftfahrzeugs 10 bezüglich des Objekts 14 zu ermitteln. Hierzu kann auch die Geschwindigkeit oder der Lenkeinschlag des Kraftfahrzeugs 10 berücksichtig werden, welche mit entsprechenden Sensoren des Kraftfahrzeugs 10 ermittelt werden. Von der Erfassungseinrichtung 18 werden Daten, die Informationen bezüglich des Ab- Stands bzw. der relativen Lage zwischen dem Kraftfahrzeug 10 und dem Objekt 14 beinhalten, an die Steuereinrichtung 22 übermittelt. From the sensor device 16, the object 14 is detected in the environment of the motor vehicle 10. After the detection of the object 14, the sensor device 16 transmits a signal to a control device 22 of the motor vehicle 10. The detection device 18, with which the distance between the motor vehicle 10 and the object 14 is determined, is then activated by the control device 22. The detection device 18 is also designed to determine the relative position of the motor vehicle 10 with respect to the object 14. For this purpose, the speed or the steering angle of the motor vehicle 10 can be taken into account, which are determined with corresponding sensors of the motor vehicle 10. From the detection device 18, data which contain information regarding the distance or the relative position between the motor vehicle 10 and the object 14 are transmitted to the control device 22.
Die Steuereinrichtung 22 greift auf die Speichereinrichtung 20 zu und ermittelt das erfasste Objekt 14 in der digitalen Landkarte. In der digitalen Land- karte ist auch die Position des Objekts 14 gespeichert. Von der Steuereinrichtung 22 wird anhand der Position des Objekts 14 und anhand des ermittelten Abstands zwischen dem Kraftfahrzeug 10 und dem Objekt 14 die Position des Kraftfahrzeugs 10 bestimmt. Die Sensoreinrichtung 16, die Erfassungseinrichtung 18, die Speichereinrichtung 20 und die Steuereinrichtung 22 sind mit einem Datenbus 24 verbunden. Der Datenbus 24 kann beispielsweise ein CAN-Bus des Kraftfahrzeugs 10 sein. Der Datenbus 24 kann auch eine andere als die in der Fig. dargestellte Topologie aufweisen. The controller 22 accesses the memory device 20 and detects the detected object 14 in the digital map. The position of the object 14 is also stored in the digital map. The position of the motor vehicle 10 is determined by the control device 22 on the basis of the position of the object 14 and on the basis of the determined distance between the motor vehicle 10 and the object 14. The sensor device 16, the detection device 18, the memory device 20 and the control device 22 are connected to a data bus 24. The data bus 24 may be, for example, a CAN bus of the motor vehicle 10. The data bus 24 may also have a different topology than that shown in the figure.
Das mittels der Sensoreinrichtung 16 erfasste Objekt wird auch eindeutig identifiziert. Zu diesem Zweck kann die Steuereinrichtung 22 auch ein Positionssignal des Kraftfahrzeugs 10 von einem Satellitenortungssystem wie GPS oder dergleichen empfangen. Anhand dieser Positionsinformation kön- nen mit der Steuereinrichtung 22 die Objekte 14 im Umfeld des Kraftfahrzeugs 10 ermittelt werden, die in einem entsprechenden Ausschnitt bzw. Bereich der digitalen Landkarte gespeichert sind. Durch einen entsprechenden Abgleich der Daten zwischen der Sensoreinrichtung 16 und der Steuereinrichtung 22 kann das Objekt 14 eindeutig bestimmt werden. The detected by the sensor device 16 object is also clearly identified. For this purpose, the controller 22 may also receive a position signal of the motor vehicle 10 from a satellite positioning system such as GPS or the like. On the basis of this position information, it is possible with the control device 22 to determine the objects 14 in the environment of the motor vehicle 10 which are stored in a corresponding section or area of the digital map. By a corresponding adjustment of the data between the sensor device 16 and the control device 22, the object 14 can be uniquely determined.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE201110112404 DE102011112404B4 (en) | 2011-09-03 | 2011-09-03 | Method for determining the position of a motor vehicle |
| DE102011112404.0 | 2011-09-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2013029742A1 true WO2013029742A1 (en) | 2013-03-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2012/003360 Ceased WO2013029742A1 (en) | 2011-09-03 | 2012-08-07 | Method for determining the position of a motor vehicle |
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| DE (1) | DE102011112404B4 (en) |
| WO (1) | WO2013029742A1 (en) |
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| CN106605155B (en) * | 2014-06-18 | 2020-12-11 | 大陆-特韦斯股份有限公司 | Method for verifying the credibility of GNSS positioning signals |
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| DE102015206605A1 (en) * | 2015-04-14 | 2016-10-20 | Continental Teves Ag & Co. Ohg | Calibration and monitoring of environmental sensors with the aid of highly accurate maps |
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Also Published As
| Publication number | Publication date |
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| DE102011112404B4 (en) | 2014-03-20 |
| DE102011112404A1 (en) | 2013-03-07 |
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