CPC G01C 21/3644 (2013.01) [G01C 21/3874 (2020.08)] | 10 Claims |
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.
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