US 12,240,460 B2
Method and control unit for the satellite-based localization of a vehicle in a map-based reference system
Ullrich Sussek, Oberstenfeld (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Oct. 12, 2022, as Appl. No. 18/046,008.
Claims priority of application No. 10 2021 211 727.9 (DE), filed on Oct. 18, 2021.
Prior Publication US 2023/0118458 A1, Apr. 20, 2023
Int. Cl. B60W 30/18 (2012.01); B60W 40/105 (2012.01); B60W 50/02 (2012.01)
CPC B60W 30/181 (2013.01) [B60W 40/105 (2013.01); B60W 50/0205 (2013.01); B60W 2520/14 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method for a satellite-based localization of a vehicle in a map-based reference system, the method comprising:
determining a trajectory in the map-based reference system being determined at regular time intervals, the trajectory being a trajectory on which the vehicle is to be brought to a stop at least partially automatically in a defined emergency;
storing the trajectories in a circular buffer, so that an oldest trajectory in each case is overwritten by the trajectory newly determined in each case;
in the defined emergency and in the event of failure of at least one camera used for full localization, determining a current vehicle position in the map-based reference system by:
a. selecting an emergency trajectory from the trajectories stored in the circular buffer,
b. determining an initial vehicle position in the map-based reference system based on the selected emergency trajectory;
c. ascertaining a vehicle orientation based on a continuously acquired yaw rate of the vehicle, and
d. ascertaining a stretch of route traveled by the vehicle based on position data of the vehicle that are acquired in a satellite-based manner;
wherein based on the trajectories stored in the circular buffer, a mean deviation, which is dependent on a current vehicle trajectory is determined between the full localization of the vehicle and a blind localization of the vehicle, the mean deviation is stored, and the stored mean deviation is taken into account when the current vehicle position in the defined emergency and in the event of failure of the at least one camera used for the full localization is ascertained.