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Method, device, and computer-readable storage medium with instructions for estimating the pose of a motor vehicle

A motor vehicle, computer technology used in the field of estimating the pose of a motor vehicle

Active Publication Date: 2019-12-31
VOLKSWAGEN AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] In known solutions the problem arises of treating inaccurate or impossible and unreliable pose estimates as well as accurate pose estimates

Method used

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  • Method, device, and computer-readable storage medium with instructions for estimating the pose of a motor vehicle
  • Method, device, and computer-readable storage medium with instructions for estimating the pose of a motor vehicle
  • Method, device, and computer-readable storage medium with instructions for estimating the pose of a motor vehicle

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Embodiment Construction

[0048] In order to better understand the principle of the present invention, the implementation of the present invention will be described in more detail below with the aid of the accompanying drawings. It shall be understood that the invention is not limited to these embodiments and that the features described may also be combined or modified without departing from the scope of protection of the invention as defined in the appended claims.

[0049] figure 1 A method for estimating the pose of a motor vehicle is shown schematically. In a first step, at least one pose estimate is determined 10 . Furthermore, an uncertainty of at least one pose estimate is determined 11 . Determining 11 the uncertainty of the pose estimate includes scaling (Skalierung) the uncertainty estimate of the pose estimate based on a comparison of the pose estimate with prior information (A-Priori-Information). Finally, the at least one pose estimate is combined 12 with at least one further pose estim...

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PUM

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Abstract

The invention relates to a method, a device, and a computer-readable storage medium with instructions for determining the location of a datum detected by a motor vehicle. In a first step, at least onepose estimation is ascertained (10). Additionally, an uncertainty of the at least one pose estimation is determined (11). The step of determining (11) the uncertainty of the pose estimation includesa process of scaling an uncertainty estimation of the pose estimation, said scaling process being based on a comparison of the pose estimation with a priori information. The at least one pose estimation is preferably fused (12) solely with at least one additional pose estimation with a weighting according to the uncertainties.

Description

technical field [0001] The present invention relates to a method, a device and a computer-readable storage medium with instructions for estimating the attitude of a motor vehicle, in particular by means of a merging method. The invention also relates to a motor vehicle using the method according to the invention or the device according to the invention. Background technique [0002] The pose of the vehicle is given by its position and orientation. Position merging takes a collection of pose estimates and their estimated uncertainties, combines them, and together with the uncertainty estimates outputs a unique pose estimate. Examples of such combining methods are, for example, filter-based algorithms, such as Kalman filters, extended Kalman filters, information filters, unscented Kalman filters or granular filters, or, for example, in DE 10 2015 219 577 compensation method. [0003] WO 2015 / 189183 A1 describes a method for correcting output data of a sensor-based system, w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S19/42
CPCG01C21/005G01S19/53G01S19/393G01S19/396G01S19/42G08G1/202
Inventor L.弗勒利赫C.梅菲尔斯B.雷赫T.沙珀N.科赫D.威尔伯斯F.梅塞尔
Owner VOLKSWAGEN AG