AUTOMOTIVE LOCATION DATA INTEGRITY

• US 20110118979A1
• Filed: 11/19/2009
• Published: 05/19/2011
• Est. Priority Date: 11/19/2009
• Status: Abandoned Application

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Marti, Lukas, Mao, Wei
• Application Number:
  US12/621,745
• Publication Number:
  US 20110118979A1
• Time in Patent Office: Days
• US Class Current: 701/208
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments

Abstract

A method of operating an automotive location system may include providing a timely warning if the system cannot satisfy predetermined performance criteria. An example method may include ascertaining a satellite-based position estimation ascertaining a dead reckoning position estimation, determining a location estimation by combining the satellite position estimation and the dead reckoning position estimation, determining a map-matching position, and determining an integrity of the location estimation by comparing a test statistic calculated by evaluating the map-matching position and the location estimation with a decision threshold based upon a predetermined location estimation accuracy specification. If the test statistic is less than the decision threshold, the system may provide the location estimation. If the test statistic is greater than the decision threshold, the system may provide an indication that the integrity of the location estimation does not satisfy the predetermined location estimation accuracy specification.

Claims

1. A method of operating an automotive location estimation system, the method comprising:

ascertaining a satellite-based position estimation using a global navigation satellite system device;

ascertaining a dead reckoning position estimation using a dead reckoning system;

determining a location estimation by combining the satellite position estimation and the dead reckoning position estimation;

determining a map-matching position by performing map matching using data associated with at least one of the satellite-based position and the dead reckoning position in connection with a map including a plurality of map features;

determining an integrity of the location estimation by comparing a test statistic calculated by evaluating the map-matching position and the location estimation with a decision threshold based upon a predetermined location estimation accuracy specification;

providing, if the test statistic is less than the decision threshold, the location estimation; and

providing, if the test statistic is greater than the decision threshold, an indication that the integrity of the location estimation does not satisfy the predetermined location estimation accuracy specification.

2. The method of claim 1, wherein evaluating the map-matching position and the location estimation includes considering a projection error, where the projection error is defined as a difference between the location estimation and the map-matching position.

3. The method of claim 1, wherein evaluating the map-matching position and the location estimation includes comparing heading data from at least one of the global navigation satellite system and the dead reckoning system with a direction associated with a map feature.

4. The method of claim 1, wherein ascertaining the dead reckoning position estimation using the dead reckoning system includes obtaining translation data from a wheel rotation sensor and obtaining heading data from a gyroscope.

5. The method of claim 4, wherein obtaining translation data from the wheel rotation sensor includes obtaining translation data from a wheel impulse sensor.

6. The method of claim 1, wherein determining the integrity of the location estimation includes applying fuzzy logic to data associated with at least one of the plurality of map features.

7. The method of claim 1, wherein the predetermined location estimation accuracy specification includes a probability of missed detection and a probability of false alert.

8. The method of claim 1, wherein providing, if the test statistic is less than the decision threshold, the location estimation, includes providing the location estimation to at least one automotive application configured to provide a driver assistance function based at least in part upon the location estimation.

9. The method of claim 1, wherein providing, if the test statistic is greater than the decision threshold, the indication that the integrity of the location estimation does not satisfy the predetermined location estimation accuracy specification, includes providing the location estimation.

10. A method of operating an automotive application, the method comprising:

receiving at least one of a location estimation and a location estimation integrity alarm from an automotive navigation system, wherein the automotive navigation system ascertains the location estimation using at least a satellite-based position estimation from a global navigation satellite system and a dead reckoning position from a dead reckoning system;

utilizing the location estimation to provide a driver assistance function, if the location estimation is received from the automotive navigation system; and

providing a notification associated with potentially unreliable performance of the driver assistance function, if the location estimation integrity alarm is received from the automotive navigation system.

11. The method of claim 10, wherein utilizing the location estimation to provide the driver assistance function includes providing at least one of a lane departure warning and a curve warning.

12. The method of claim 10, wherein utilizing the location estimation to provide the driver assistance function includes providing at least one interlinked driver assistance function.

13. The method of claim 10, wherein providing the notification associated with potentially unreliable performance of the driver assistance function includes disabling the driver assistance function.

14. The method of claim 10, wherein providing the notification associated with potentially unreliable performance of the driver assistance function includes providing the driver assistance function utilizing the location estimation.

15. The method of claim 10, wherein receiving the at least one of the location estimation and the location estimation integrity alarm from the automotive navigation system includes receiving the location estimation integrity alarm based at least partially upon a comparison of the location estimation and a map-matching position estimation.

16. An automotive navigation system comprising:

a global navigation satellite system device configured to provide a satellite-based position estimation;

a dead reckoning device configured to provide a dead reckoning position estimation;

a sensor fusion device configured to integrate the satellite-based position estimation and the dead reckoning position estimation to provide a location estimation;

a map-matching component configured to provide a map-matching position estimation based upon a plurality of map features of a map; and

a location estimation integrity output operative to selectively provide a notification that the location estimation does not satisfy a location estimation accuracy specification based upon consideration of the map-matching position estimation in connection with at least one of the satellite-based position estimation and the dead reckoning position estimation.

17. The automotive navigation system of claim 16, wherein the dead reckoning device includes a heading sensor.

18. The automotive navigation system of claim 17, wherein the heading sensor includes a gyroscope.

19. The automotive navigation system of claim 16, wherein the dead reckoning device includes a translation sensor.

20. The automotive navigation system of claim 19, wherein the translation sensor includes a wheel impulse sensor.