US 11,852,489 B2
Method for determining the position of a vehicle
Florian Ries, Stuttgart (DE); Frank Schuster, Böblingen (DE); Martin Haueis, Gärtringen (DE); and Mohammad Ghanaat, Stuttgart (DE)
Assigned to MERCEDES-BENZ GROUP AG, Stuttgart (DE)
Appl. No. 17/254,539
Filed by DAIMLER AG, Stuttgart (DE)
PCT Filed Jun. 3, 2019, PCT No. PCT/EP2019/064330
§ 371(c)(1), (2) Date Dec. 21, 2020,
PCT Pub. No. WO2019/243031, PCT Pub. Date Dec. 26, 2019.
Claims priority of application No. 10 2018 005 005.0 (DE), filed on Jun. 22, 2018.
Prior Publication US 2021/0278220 A1, Sep. 9, 2021
Int. Cl. G01C 21/28 (2006.01); G01C 21/20 (2006.01); G01S 19/45 (2010.01); G01C 21/00 (2006.01)
CPC G01C 21/28 (2013.01) [G01C 21/20 (2013.01); G01C 21/3844 (2020.08); G01S 19/45 (2013.01)] 9 Claims
 
1. A method for landmark-based positioning of a vehicle, the method comprising:
detecting, by a sensor system of the vehicle, sensor landmark objects in an environment of the vehicle, wherein the sensor system is an image sensor system capturing the sensor landmarks objects in an environment of the vehicle or the sensor system is a LIDAR sensor system measuring reflections from the sensor landmark objects;
forming associations between the sensor landmark objects and map landmark objects by comparing the sensor landmark objects with the map landmark objects stored in a section of a map;
determining a plurality of position hypotheses as assumptions for the vehicle position based on the formed associations;
determining, for each position hypothesis, an integrity value using probabilistic analysis of each of the position hypotheses;
filtering the position hypotheses according to integrity values of the position hypotheses to determine a subset of position hypotheses, wherein position hypothesis of the subset of position hypotheses have integrity values fulfilling a predetermined requirement;
determining a probability distribution of the vehicle position based on the subset of the position hypotheses; and
determining, using the probability distribution of the vehicle position, a position of the vehicle on the map.