	US 12,305,991 B2
	Method and device for determining a position of a vehicle in a road network
Michael Holicki, Berlin (DE)
Assigned to CARIAD SE, Wolfsburg (DE)
Appl. No. 17/998,143
Filed by CARIAD SE, Wolfsburg (DE)
PCT Filed May 4, 2021, PCT No. PCT/EP2021/061728 § 371(c)(1), (2) Date Nov. 7, 2022, PCT Pub. No. WO2021/224258, PCT Pub. Date Nov. 11, 2021.
Claims priority of application No. 10 2020 112 482.1 (DE), filed on May 8, 2020.
Prior Publication US 2023/0288210 A1, Sep. 14, 2023
Int. Cl. G01C 21/28 (2006.01)

CPC G01C 21/28 (2013.01)

15 Claims

1. A method for determining a position of a vehicle in a road network having a plurality of edges, each of the edges being associated with one of a plurality of road sections or one of a plurality of driving lanes on one of the plurality of road sections, by a sensor group of the vehicle, the method comprising:

detecting first sensor data by the sensor group,

based on the first sensor data, associating each first edge of a plurality of first edges of the road network with a first probability among a plurality of first probabilities that the vehicle is located in a road section among the plurality of road sections associated with the first edge or in one of the plurality of driving lanes associated with the first edge,

detecting second sensor data by the sensor group,

based on the second sensor data and the first probabilities associated with the first edges, associating a second probability among a plurality of second probabilities with each second edge of a plurality of second edges of the road network that the vehicle is located in a road section among the plurality of road sections associated with the second edge or in one of the plurality of driving lanes associated with the second edge,

determining that one of the second edges with a highest associated probability among the plurality of second probabilities is the position of the vehicle,

determining a driving lane among the plurality of driving lanes in which the vehicle is located based on the position of the vehicle, and

displaying an image of the vehicle in the driving lane.

15. A device for determining a position of a vehicle in a road network having a plurality of edges, each of the edges being associated with one of a plurality of road sections or a driving lane, wherein the device comprises:

a sensor group that, in operation, detects first sensor data and second sensor data; and

a processor that, in operation,

based on the first sensor data, associates each first edge of a plurality of first edges of the road network with a first probability among a plurality of first probabilities that the vehicle is located in a road section among the plurality of road sections associated with the first edge or in one of a plurality of driving lanes associated with the first edge,

based on the second sensor data and the first probabilities associated with the first edges, associates a second probability among a plurality of second probabilities with each second edge of a plurality of second edges of the road network that the vehicle is located in the road section among the plurality of road sections associated with the second edge or in one of the plurality of driving lanes associated with the second edge,

determines that one of the second edges with a highest associated probability among the plurality of second probabilities is the position of the vehicle,

determines a driving lane among the plurality of driving lanes in which the vehicle is located based on the position of the vehicle, and

displays an image of the vehicle in the driving lane.