Vehicle Landmark Pattern Usage for Ambiguous Self-Localization
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Solution Overview
Problem
Conventional landmark-based vehicle self-localization methods face inaccuracies and ambiguities when recurring structures are present, leading to incomplete or inaccurate position determination, especially in environments with limited landmark visibility or GNSS interference.
Innovation Solution
A method that allows for flexible use of landmark patterns by defining at least two distinct usage types based on the degree of correspondence with digital maps, enabling continued self-localization even with reduced accuracy, and switching between these types dynamically based on detection conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional landmark-based localization is used with recurring structures, then the system can operate in environments with limited landmark visibility, but the position determination becomes ambiguous and inaccurate
Solution Approach 1:
The system dynamically adapts the usage type of landmark patterns based on detection conditions and correspondence quality. When recurring structures are detected with high correspondence, the system uses them for precise localization; when ambiguity arises, it switches to alternative usage types or complementary methods, making the localization system flexible and context-dependent rather than static
Solution Approach 2:
The system changes the parameter of landmark pattern usage by introducing multiple usage types (first usage type for unambiguous cases, second usage type for ambiguous cases). This parameter change allows the same landmark pattern to be utilized differently based on the specific detection situation, resolving the contradiction between reliability and precision
2Measurement precision
If strict unique assignment is required for landmark elements, then localization accuracy is maintained, but the system cannot utilize landmark patterns in ambiguous situations
Solution Approach 1:
The system makes landmark patterns multi-functional by defining multiple usage types. The same landmark pattern can serve different purposes: precise positioning when unambiguous (first usage type) and supplementary localization when ambiguous (second usage type). This universality allows the system to adapt to various detection scenarios without requiring different landmark patterns for each case
3Adaptability or versatility
If the system switches between different usage types of landmark patterns, then localization capability is maintained in diverse environments, but the system complexity increases
Solution Approach 1:
The system segments the landmark pattern utilization into distinct usage types with clear criteria for selection. By dividing the utilization into first usage type (unambiguous) and second usage type (ambiguous), the system creates a structured decision framework that manages complexity through clear segmentation rather than handling all cases uniformly
Data Source
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AI summary
The invention relates to a method for determining a usage type of a landmark pattern (10) for a self-localization of a vehicle (5), wherein the landmark pattern (10) is arranged in the surrounding region (15) of the vehicle (5), and the landmark pattern has multiple identical landmark components (11a, 11b, 11c, 11d, 11e) in order to form the landmark pattern (10). Usage types are determined on the basis of attempted assignments of the detected landmark components (11a to 11e) to corresponding landmark components in the digital map.