US 12,217,516 B2
Method and device for multi-sensor data fusion for automated and autonomous vehicles
Frank Keidel, Poing (DE); Sebastian Rauch, Eisenhofen (DE); Sean Brown, Munich (DE); Tim Rakowski, Hebertshausen (DE); Alexander Born, Munich (DE); Fernando Herrero Carron, Munich (DE); and Joachim Schiehlen, Germering (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 17/420,694
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Oct. 21, 2019, PCT No. PCT/EP2019/078606
§ 371(c)(1), (2) Date Jul. 5, 2021,
PCT Pub. No. WO2020/160796, PCT Pub. Date Aug. 13, 2020.
Claims priority of application No. 10 2019 102 922.8 (DE), filed on Feb. 6, 2019.
Prior Publication US 2022/0101637 A1, Mar. 31, 2022
Int. Cl. G06V 20/56 (2022.01); B60W 60/00 (2020.01); G06F 18/25 (2023.01); G06K 9/62 (2022.01); G06V 20/58 (2022.01)
CPC G06V 20/588 (2022.01) [B60W 60/001 (2020.02); G06F 18/25 (2023.01); G06V 20/58 (2022.01)] 19 Claims
OG exemplary drawing
 
1. A computer-implemented method for estimating a course of a roadway in a surrounding area of a vehicle on the basis of a state function describing the course of a roadway, the state function comprising a clothoid spline, the method comprising:
providing surrounding-area measurement data describing the course of the roadway at a current position of the vehicle, the surrounding-area measurement data comprising at least one polynomial function;
transforming the state function into a different coordinate system such that the state function is transformed from a state space to a measurement space, wherein the state function and the surrounding-area measurement data are both in a common coordinate system as a result of said transforming; and
after said transforming, adapting the state function on the basis of the surrounding-area measurement data in the common coordinate system, wherein adapting the state function further comprises using a sampling method for selecting sample points from measurement models and from surrounding area measurement data such that there is a constant arc length between neighbouring sample points in each case when there are multiple sample points.