Vehicle Self-Localization Using External Sensor Position Data
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Solution Overview
Problem
Existing self-localization methods for vehicles in parking structures face inaccuracies due to limited satellite reception, especially in environments with impaired GNSS signals, leading to imprecise and unreliable vehicle positioning.
Innovation Solution
A vehicle-external sensor system provides position information to a vehicle computer unit, allowing for the determination of the initial pose of the vehicle within a parking infrastructure, using sensors like cameras, light barriers, or inductive sensors, and a digital map for accurate localization, even with non-distinct landmarks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GNSS signals are used for initial pose estimation, then global self-localization is achieved without prior pose information, but the reception is impaired by environmental conditions leading to imprecise and unreliable positioning
Solution Approach 1:
The patent introduces an intermediary system (vehicle-external sensor system with cameras, light barriers, or inductive sensors) that mediates between the vehicle and the localization task. This sensor system detects the vehicle's presence and provides position information about the detection region to the vehicle computer unit, enabling reliable initial pose estimation without depending on impaired GNSS signals.
2Measurement precision
If vehicle-external sensor system is used to detect vehicle position, then accurate initial pose determination is achieved, but system complexity increases
Solution Approach 1:
The vehicle-external sensor system is designed with multi-functionality, serving both as a detection system for vehicle presence and as a positioning system for determining the detection region's position. This universal approach allows the same sensor infrastructure to fulfill multiple functions, reducing the need for separate specialized systems and thereby limiting the increase in overall system complexity.
Data Source
AI summary
According to a method for self-localization, a vehicle is detected by a vehicle-external sensor system of a parking infrastructure when it is located in a detection region of the vehicle-external sensor system. By way of a vehicle-external communication interface of the parking infrastructure, position information regarding the detection region is relayed in dependence on the detection of the vehicle to at least one vehicle computer unit and an initial pose of the vehicle is determined by the at least one vehicle computer unit in dependence on the position information.