US 11,747,159 B2
Method for landmark-based localisation of a vehicle
Florian Ries, Stuttgart (DE); Yinglai Yang, Sindelfingen (DE); Frank Schuster, Böblingen (DE); and Martin Haueis, Gärtringen (DE)
Assigned to MERCEDES-BENZ GROUP AG, Stuttgart (DE)
Appl. No. 17/915,641
Filed by MERCEDES-BENZ GROUP AG, Stuttgart (DE)
PCT Filed Feb. 19, 2021, PCT No. PCT/EP2021/054204
§ 371(c)(1), (2) Date Sep. 29, 2022,
PCT Pub. No. WO2021/197710, PCT Pub. Date Oct. 7, 2021.
Claims priority of application No. 10 2020 108 907.4 (DE), filed on Mar. 31, 2020.
Prior Publication US 2023/0115520 A1, Apr. 13, 2023
Int. Cl. G01C 21/36 (2006.01); G01C 21/00 (2006.01)
CPC G01C 21/3644 (2013.01) [G01C 21/3874 (2020.08)] 10 Claims
OG exemplary drawing
 
1. A method for landmark-based localization of a vehicle, the method comprising:
receiving, by an autonomous driving system of the vehicle, a determined current vehicle position; and
controlling the vehicle by the autonomous driving system so long as the determined current vehicle position has an integrity that is below an alert limit threshold value for the autonomous driving system of the vehicle, wherein the current vehicle position is determined by
a) forming, by the vehicle, a plurality of position hypotheses for a vehicle position based on associations formed between sensor landmark objects detected by a sensor of the vehicle and map landmark objects stored in a digital map;
b) probabilistically filtering, by the vehicle, the plurality of position hypotheses to produce a probability distribution of the vehicle position in the digital map;
c) determining, by the vehicle, a most likely vehicle position as a localization result based on probability distribution of the vehicle position in the digital map, and determining a guaranteed position area, in which a predefined error upper limit is not exceeded,
wherein steps a)-c) are performed several times with different configurations of the probabilistic filtering so that there are several localization results, wherein the different configurations of the probabilistic filtering relate to stringency of the configuration for discarding improbable position hypotheses, and
wherein one localization result of the several localization results from performing the steps a)-c) several times is selected as the determined current vehicle position if the guaranteed position areas from performing the steps a)-c) several times overlap fully in pairs, wherein the one localization result has a smallest guaranteed position area of the determined guaranteed position areas.