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Method and device for the localization of a vehicle from a fixed reference map

  • US 10,203,409 B2
  • Filed: 11/17/2015
  • Issued: 02/12/2019
  • Est. Priority Date: 11/17/2014
  • Status: Active Grant
First Claim
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1. A method for locating a vehicle in a fixed reference map in which objects are assigned to one or more positions in the reference map, the method comprising:

  • emitting a radar impulse at successive points of a vehicle trajectory of the vehicle, the radar impulse being emitted from a radar sensor located on the vehicle;

    performing angle-resolved and time-resolved measurements of a radar impulse response received by the radar sensor;

    identifying, by a processor, object positions in an environment substantially surrounding the vehicle from the angle-resolved and time-resolved measurements of the radar impulse response, wherein currently identified object positions are used to form an environment map;

    identifying a vehicle position of the vehicle in the reference map by comparing the environment map to the reference map, the reference map being formed by the identified object positions and being continuously updated by merging of the identified object positions;

    performing an object classification for the specific object positions in the current environment map and/or reference map; and

    performing the identification of the vehicle position by taking the object classification into account.

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