| CPC G01C 21/30 (2013.01) [B60W 60/001 (2020.02); B60W 2556/40 (2020.02)] | 22 Claims |
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1. A method for a transportation vehicle to correct measurement errors of its ego-localization functionality resulting from satellite positioning system data received by the transportation vehicle, the method comprising:
receiving one or more collective perception messages, wherein each of the one or more collective perception messages comprises information on an absolute position of a transportation vehicle generating the collective perception message and a relative position of one or more further transportation vehicles being perceived by the transportation vehicle generating the collective perception message;
placing the transportation vehicle generating the collective perception message and the one or more further transportation vehicles being perceived by the transportation vehicle generating the collective perception message on a map based on the absolute and relative positions received in the one or more collective perception messages;
correlating positions of the transportation vehicles on the map with a course of a road on which the transportation vehicles are travelling, wherein the transportation vehicles comprise the transportation vehicle generating the collective perception message and the one or more further transportation vehicles;
correcting the positions of the transportation vehicles on the map based on the correlation between the course of the road and the positions of the transportation vehicles; and
tracking the positions of the transportation vehicles, as received in the one or more collective perception messages, to determine trajectories of the transportation vehicles, wherein the trajectories of the transportation vehicles are correlated with the course of the road on which the transportation vehicles are travelling, wherein the positions of the transportation vehicles are further corrected based on the correlation between the course of the road and the trajectories of the transportation vehicles,
wherein each of the one or more collective perception messages further comprises an identifier of the transportation vehicle generating the collective perception message, the identifier being changed to a newly generated identifier according to a pre-defined schedule,
wherein the method further comprises determining a match between transportation vehicle positions received in a collective perception message having a newly generated identifier and previously determined trajectories, and continuing the tracking of the positions of the transportation vehicles and the determination of the trajectories using subsequently received collective perception messages with the newly generated identifier,
whereby, the absolute position for the transportation vehicle generating the collective perception message, as determined through the satellite positioning system, that lead to inaccuracies in determination of the positions of the one or more further transportation vehicles defined relative to the position of the transportation vehicle generating the collective perception message, is corrected by correlating both the position of the transportation vehicle generating the collective perception message and the positions of the one or more further transportation vehicles being referenced in the collective perception message with the course of the road, and correcting the positions accordingly through use of both the position of the transportation vehicle generating the collective perception message and the positions of the one or more further transportation vehicles being referenced in the collective perception message, through translation or rotation of the transportation vehicles together relative to the map, and correcting the positions of the transportation vehicles based on the correlation between the course of the road and the trajectories of the transportation vehicles.
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