US 12,145,619 B2
Self-localization of a vehicle in a parking infrastructure with selective sensor activation
Sven-Garrit Czarnian, Berlin (DE); Thomas Dammeier, Berlin (DE); Michael Holicki, Berlin (DE); Ralph Hänsel, Berlin (DE); Timo Iken, Wolfsburg (DE); Roland Kube, Schwülper (DE); Carolin Last, Braunschweig (DE); and Stefan Wappler, Berlin (DE)
Assigned to CARIAD SE, Wolfsburg (DE)
Filed by Cariad SE, Wolfsburg (DE); and Volkswagen Aktiengesellschaft, Wolfsburg (DE)
Filed on Jul. 8, 2022, as Appl. No. 17/860,936.
Claims priority of application No. 102021117742.1 (DE), filed on Jul. 9, 2021.
Prior Publication US 2023/0011156 A1, Jan. 12, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 40/105 (2012.01); G01S 13/931 (2020.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 60/0011 (2020.02) [B60W 40/105 (2013.01); G01S 13/931 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2556/20 (2020.02); B60W 2556/40 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A method for self-localization of a vehicle in a parking structure, comprising:
determining a first pose of the vehicle in a map coordinates system of a digital map stored on a storage medium,
based on environment sensor data representing an environment of the vehicle, detecting a landmark in the environment and determining a position of the landmark in the map coordinates system; and
determining a second pose of the vehicle in the map coordinates system dependent on the position of the landmark;
wherein
an assignment instruction stored on the storage medium is consulted, matching up the first pose with at least one preferred sensor type or at least one dominant landmark type;
a first environment sensor system of the vehicle, configured according to a first sensor type, is activated in dependence on the assignment instruction;
a second environment sensor system of the vehicle, configured according to a second sensor type, is deactivated in dependence on the assignment instruction; and
the environment sensor data are generated by means of the first environment sensor system.