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

• Current Assignee: Volkswagen AG
• Original Assignee: Volkswagen AG
• Inventors: Bueschenfeld, Torsten, Max, Stephan, Urban, Alexander, Brosig, Stefan
• Primary Examiner(s): Windrich, Marcus E
• Application Number:
  US14/944,181
• Publication Number:
  US 20160139255A1
• Time in Patent Office: 1,183 Days
• Field of Search: 342 70- 72
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target

Abstract

A method and a device for locating a vehicle from a fixed reference map in which objects are assigned one or more positions in the reference map. At successive points of a vehicle trajectory, in each case a radar impulse is emitted and subsequently, angle-resolved and time-resolved measurements of the radar impulse response are performed. Object positions are identified in the environment surrounding the vehicle from the radar impulse response, the current identified object positions forming an environment map. The vehicle position is identified in the reference map by comparing the environment map to the reference map, the reference map being created from the identified positions and is continuously updated. An object classification for the identified object positions in the current environment map and/or reference map is performed and the identification of the vehicle position is performed while taking the object classification into account.

Claims

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.

2. The method according to claim 1, wherein reflection intensity of the radar impulse response is used as a classification criterion and is assigned to a specific object position in the current environment map and/or reference map.

3. The method according to claim 1, wherein the object positions identified from a single radar impulse response are used to identify the position of the vehicle in the reference map.

4. The method according to claim 1, wherein several angle-resolved individual measurements are merged into a single, current environment map and the current environment map is used to identify the position of the vehicle from the reference map.

5. The method according to claim 1, wherein a pattern recognition at object positions in the current environment map and/or reference map is performed, wherein an object class is identified using the pattern obtained, and wherein the object class is assigned to the object position in the current environment map and/or reference map.

6. The method according to claim 1, wherein a modification of the positions in the reference map and/or environment map pertaining to an object occurs based on object class, and wherein the object position and/or the classification information is modifiable.

7. The method according to claim 1, wherein the position of a mobile object is identified via its speed and direction of movement relative to a speed and movement direction of the vehicle using a frequency-based analysis of the radar impulse response and the mobile object is removed from the reference map when identifying the vehicle position and when updating the reference map.

8. The method according to claim 1, wherein after an object is classified as a mobile/stationary object, the mobile/stationary object is removed from the reference map when identifying the vehicle position, wherein the mobile/stationary object is an object that is not permanently stationary.

9. The method according to claim 1, wherein for a rough orientation of the vehicle position and/or the positions in the reference map, geographic coordinates of satellite-based, global positioning systems and/or other tracking systems are assigned.

11. The method according to claim 8, wherein the mobile/stationary object is a pedestrian or other vehicle.

12. The method according to claim 1, wherein the environment map depicts the currently identified object positions.

10. A device for locating a vehicle in a reference map, the device comprising:

a radar measurement device that, at successive points of a vehicle trajectory of the vehicle, emits a radar impulse and subsequently performs an angle-resolved and time-resolved measurement of the radar impulse response;

a positioning device that identifies object positions in an area surrounding the vehicle from the radar impulse responses, wherein the object positions are used to form an environment map;

a memory in which the reference map is stored;

a localization device comprising a positioning device that identifies a vehicle position of the vehicle in the reference map by a comparison to the environment map;

a merging device that creates the reference map from the identified object positions and continuously updates the reference map by merging of the identified object positions; and

a classification device that classifies the object positions in the current environment map and/or reference map, wherein the object classes specified for the positions are taken into account when identifying the vehicle position.