Method of and device for determining a position of a vehicle

• US 6,345,229 B1
• Filed: 04/03/2000
• Issued: 02/05/2002
• Est. Priority Date: 04/03/1999
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Honkomp, Dieter, Noetzel, Guenter, Tanneberger, Volkmar, Kreft, Peter
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US09/541,936
• Time in Patent Office: 673 Days
• Field of Search: 701/300, 701/207, 701/214, 701/216, 701/208, 342/357.14, 342/357.08, 340/995, 340/988
• US Class Current: 701/207
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G08G 1/137 the indicator being in the form of a map

Abstract

A position of a vehicle is determined by outputting position signals by a reception antenna and outputting traveling condition values by traveling condition sensors of a vehicle for determination of an absolute position of the vehicle and outputting an absolute position signal, from the absolute position signal and predetermined reference data of a reference system determining a relative position of the vehicle in the reference system, determining a position quality signal from a comparison of the absolute position signal and a reference position signal, and using the position quality signal for determination of an absolute position of the vehicle.

Claims

1. A method of determining a position of a vehicle, comprising the steps of outputting position signals by a reception antenna and outputting traveling condition values by traveling condition sensors of a vehicle for determination of an absolute position of the vehicle and outputting an absolute position signal;

from the absolute position signal and predetermined reference data of a reference system determining a relative position of the vehicle in the reference system, determining a position quality signal from a comparison of the absolute position signal and a reference position signal; and

using the position quality signal again for a new, subsequent determination of an absolute position of the vehicle.

2. A method as defined in claim 1, wherein said determining of the absolute position signal includes determining from several temporal successively following position signals and traveling condition signals and a difference correction signals.

3. A method as defined in claim 1;

and further using as the traveling condition signals at least one signal selected from the group consisting of a vehicle speed signal, a rotary speed signal of vehicle wheels, a longitudinal acceleration signal, a transverse acceleration signal, a yaw rate, a yaw angle acceleration, and a combination thereof.

4. A device for determining a position of a vehicle, comprising locating means determining an absolute position of a vehicle, receiving traveling condition signals of the vehicle from vehicle sensors and position signals from a reception antenna, determining an absolute position of the vehicle and making available as an absolute position signal, and correcting the absolute position by introducing a position quality signal;

and navigating means receiving the absolute position signal and at least a few traveling condition signals from said locating means, determining a relative position signal for determination of a vehicle position in a reference system and determining a position quality signal from a deviation or dispersion of the absolute position signal from the relative position signal, and making it available to said locating means.

5. A device as defined in claim 4, wherein said navigating means is formed so as to determine the position quality signal from a correlation of several timely successive absolute position signals.

6. A device as defined in claim 4, wherein said locating means is formed so as to provide calibration of at least a few sensor signals by several timely successive position signals.

7. A device as defined in claim 4, wherein said locating means is formed so as to receive difference correction data and use them for determination of the absolute position signals.

8. A device as defined in claim 4, wherein said locating means is formed so as to transmit a signal selected from the group consisting of a speed signal, a traveling direction signal, a path integral signal, a time signal, or a combination thereof to said navigating means.

9. A device as defined in claim 4, wherein said locating means is formed so as to determine a quality signal for evaluating an accuracy of the absolute position and making it available to said navigating means, said navigating means being formed so as to produce the quality signal for determining the position quality signal.

10. A device as defined in claim 4;

and further comprising an interface which connects said locating means and said navigating means with one another.

11. A device as defined in claim 4, wherein said locating means and said navigating means are formed on separate integrated circuits.

12. A device as defined in claim 4;

and further comprising a reception antenna, said locating means being arranged in said reception antenna.

13. A method of determining a position of a vehicle, comprising the steps of outputting position signals by a reception antenna and outputting traveling condition values by traveling condition sensors of a vehicle for determination of an absolute position of the vehicle and outputting an absolute position signal;

from the absolute position signal and predetermined reference data of a reference system determining a relative position of the vehicle in the reference system, determining a position quality signal from a comparison of the absolute position signal and a reference position signal; and

using the position quality signal again for a new, subsequent determination of an absolute position of the vehicle; and

using the position quality signal for calibrating sensor signals of vehicle sensors.

14. A method of determining a position of a vehicle, comprising the steps of outputting position signals by a reception antenna and outputting traveling condition values by traveling condition sensors of a vehicle for determination of an absolute position of the vehicle and outputting an absolute position signal;

from the absolute position signal and predetermined reference data of a reference system determining a relative position of the vehicle in the reference system, determining a position quality signal from a comparison of the absolute position signal and a reference position signal; and

using the position quality signal again for a new, subsequent determination of an absolute position of the vehicle; and

correlating a signal of the absolute position with a digital map which serves as a reference signal.