Method for locating a more highly automated vehicle, and corresponding driver assistance system and computer program
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Solution Overview
Problem
Current methods for locating highly automated vehicles using GNSS-based systems face limitations due to partial availability and high costs of reference stations, as well as decreased accuracy with increasing distance, caused by interpolation errors and OTA transmission issues.
Innovation Solution
A method involving a digital map with geodetically surveyed reference points, such as road markings and traffic signs, that actively transmit their position and identifier signals to the vehicle's driver assistance system, allowing for precise determination of the vehicle's position and GNSS error correction, which is then processed and shared with a server for improved GNSS error modeling across multiple vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If reference stations are established for GNSS correction services, then vehicle localization accuracy is improved, but costs and device complexity increase
Solution Approach 1:
The system uses the vehicle's own GNSS receiver and onboard computing resources to perform localization by processing satellite signals and comparing them with digital map data, eliminating the need for external reference stations and correction services
Solution Approach 2:
The invention extracts the localization function from the vehicle and performs it using the digital map and GNSS signals, separating the complex reference station infrastructure from the vehicle system while maintaining accuracy
2Measurement precision
If reference stations are established for GNSS correction, then localization accuracy is improved, but availability is limited due to OTA transmission restrictions
Solution Approach 1:
The vehicle independently determines its position by comparing GNSS coordinates with digital map reference points, eliminating dependence on external correction services and ensuring continuous operation regardless of transmission availability
Solution Approach 2:
The digital map with reference points is pre-loaded into the vehicle's onboard system, allowing localization to function without real-time communication infrastructure
3Area of stationary object
If interpolation is used to determine GNSS errors between reference stations, then coverage area is expanded, but accuracy decreases with distance from reference stations
Solution Approach 1:
Each vehicle independently calculates its own GNSS error by comparing its position with multiple reference points in the digital map, eliminating the need for interpolation and maintaining consistent accuracy across the entire coverage area
Solution Approach 2:
The system transitions from point-based correction (reference stations) to area-based correction (digital map coverage), allowing accurate localization throughout the entire mapped region without distance-dependent degradation
Data Source
Figure 1
AI summary
The invention relates to a method for operating a more highly automated vehicle (HAF), in particular a highly automated vehicle, said method comprising the following steps: S1 making available a digital map, preferably a highly accurate digital map, in a driver assistance system of the HAF; D2 making available at least one highly accurate geodetically measured reference measurement point, wherein position data of the reference measurement point is stored in the digital map; S3 determining a current reference vehicle position with use of the reference measurement point; S4 determining a current satellite vehicle position with use of a global satellite navigation system (GNSS); and S5 comparing the reference vehicle position with the satellite vehicle position and determining a GNSS error as a result of the comparison. The invention also relates to a corresponding system and to a computer program.