Landmark Positioning Using Overlapping Sensing Spaces
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Solution Overview
Problem
Existing methods for determining the global position of landmarks in automated driving systems, such as those used in GPS and map-based localization, often suffer from inaccuracies and erratic behavior, particularly when relying on satellite-supported position determination methods.
Innovation Solution
A method that improves landmark map accuracy by considering the relative positions of multiple landmarks as boundary conditions, using measurement data records from overlapping detection areas to optimize the global position of landmarks, and combining data from various sensors like cameras and LiDAR to enhance precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite-supported position determination methods (GPS) are used to determine landmark positions, then the system can operate with simple equipment, but the measurement precision is insufficient and leads to erratic behavior
Solution Approach 1:
The patent combines multiple measurement data records from different detection areas and multiple landmarks into a unified adjustment calculation. By merging relative position measurements from several landmarks observed from different vehicle positions, the system achieves higher precision than any single GPS measurement could provide, while distributing the complexity across multiple simple sensor observations rather than requiring one complex positioning system
Solution Approach 2:
The patent replaces the mechanical/satellite-based GPS positioning system with an optical/visual measurement system using cameras or LiDAR. Instead of relying on satellite signals and complex receiver hardware, the system uses optical sensors to capture images and calculate relative landmark positions through geometric relationships and adjustment calculations, substituting a simpler sensor system for the complex satellite positioning infrastructure
2Measurement precision
If the position of a single landmark is determined repeatedly using GPS, then the measurement process remains simple, but the measurement precision does not improve due to cumulative errors
Solution Approach 1:
The patent merges measurements of multiple landmarks into a single adjustment calculation system. Instead of determining each landmark position separately through repeated GPS measurements, the system simultaneously processes relative position data from multiple landmarks observed from different vehicle positions, achieving higher precision for all landmarks in one integrated calculation rather than through sequential single-landmark measurements
Solution Approach 2:
The patent performs preliminary relative position measurements of multiple landmarks from different detection areas before conducting the final adjustment calculation. By pre-capturing measurement data records during vehicle movement and storing relative position information, the system prepares all necessary measurement inputs in advance, allowing the adjustment calculation to efficiently process multiple landmarks simultaneously without time-consuming sequential measurements
3Reliability
If map data is created using a reference vehicle with known position, then the mapping process is straightforward, but measurement errors in landmark positions cannot be adequately corrected
Solution Approach 1:
The patent implements feedback through the adjustment calculation process, which takes measured relative positions of multiple landmarks and iteratively optimizes their global positions to satisfy geometric constraints. The system uses the known reference vehicle positions as feedback anchors, comparing observed landmark positions against the landmark map and correcting measurement errors by adjusting landmark positions to minimize discrepancies across all measurement data records, creating a self-correcting mapping system
Solution Approach 2:
The patent changes the parameters used in the adjustment calculation by incorporating relative position measurements from multiple landmarks and multiple detection areas, rather than relying on single-landmark absolute positions. By transforming the problem from determining absolute positions independently to optimizing relative positions within a consistent coordinate system, the system can correct measurement errors through parameter optimization without requiring complex additional hardware
Data Source
Figure 1
Figure 2A~2C
Figure 2D~2E
AI summary
The invention relates to a method for determining a global position of a first landmark (21c), wherein at least a first and a second measurement data set are captured. A first reference point and a first sensing space (20a) are associated with the first measurement data set, and a second reference point and a second sensing space (20b) are associated with the second measurement data set. Furthermore, the first landmark (21c) is detected in the first sensing space (20a) and the second sensing space (20b), while a second landmark (21a, 21b) is detected in the first sensing space (20a). First relative positions (22a, 22b, 22c) of the first landmark (21c) and of the second landmark (21a, 21b) in relation to the reference point of the first sensing space (20a) are determined on the basis of the first measurement data set. A second relative position (23c) of the first landmark (21c) in relation to the reference point of the second sensing space (20b) is determined on the basis of the second measurement data set. A spatial correlation between the first landmark (21c) and the second landmark (21a, 21b) is then determined on the basis of the first measurement data set. Finally, the global position of the first landmark (21c) in relation to a global reference point is determined on the basis of the determined first relative position (22c) and second relative position (23c) of the first landmark (21c), on the basis of the determined first relative position (22a, 22b) of the second landmark (21a, 21b), and on the basis of the determined spatial correlation. The invention further relates to a system for determining a global position of a first landmark.