US 12,078,492 B2
Method and device for determining a highly precise position of a vehicle
Jan-Hendrik Pauls, Grossbottwar (DE); Carsten Hasberg, Ilsfeld-Auenstein (DE); Philipp Rasp, Wannweil (DE); and Tobias Strauss, Obersulm (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 17/045,896
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Apr. 8, 2019, PCT No. PCT/EP2019/058841
§ 371(c)(1), (2) Date Oct. 7, 2020,
PCT Pub. No. WO2019/201650, PCT Pub. Date Oct. 24, 2019.
Claims priority of application No. 10 2018 206 067.3 (DE), filed on Apr. 20, 2018.
Prior Publication US 2021/0140789 A1, May 13, 2021
Int. Cl. G01C 21/32 (2006.01); G01C 21/00 (2006.01); G01C 21/30 (2006.01)
CPC G01C 21/32 (2013.01) [G01C 21/30 (2013.01); G01C 21/3815 (2020.08); G01C 21/3848 (2020.08)] 7 Claims
OG exemplary drawing
 
1. A method for determining a position of an automated vehicle, the method comprising:
sensing, via sensors, environment data values which represent an environment of the automated vehicle, the environment having a plurality of environment features which include at least one regular structure, and the environment data values including at least the at least one regular structure;
comparing, via a processor, the environment data values with a map;
determining, via the processor, a determined position which is the position of the automated vehicle as a function of the comparison;
supplying, via an interface, including a cable or wirelessly, a signal based on the determined position for operating the automated vehicle based on the position; and
determining, via the processor, an approximate position of the automated vehicle, classifying the environment of the automated vehicle as a function of the approximate position; and
automatically controlling and operating, based on the determined position, the automated vehicle, wherein the operating of the automated vehicle includes determining, via the processor, a trajectory for the vehicle and traveling the trajectory with an automated transverse and longitudinal control, and automatically executing safety-relevant driving functions;
wherein the sensing of the environment data values takes place as a function of the classification of the environment,
wherein the interface includes a transmitter and receiver device for transmitting and receiving data, and wherein the interface includes an additional computing device for adapting and/or modifying a data format,
wherein the plurality of environment features have at least two regular structures that are independent of each other, and wherein in the comparing, a relation of the at least two independent regular structures is determined, the comparing being carried out as a function of the relation,
wherein the relation of the at least two independent regular structures includes lateral or longitudinal distances from one another, and
wherein for fully automated operation of the vehicle, a maximum uncertainty of a precision of the determined position is about 10 centimeters.