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公开(公告)号：US12007238B2
公开(公告)日：2024-06-11
申请号：US16719617
申请日：2019-12-18
发明人： Daniel Wilbers , Christian Merfels , Bernd Rech , Thilo Schaper , Niklas Koch , Stefan Jürgens , David Perdomo Lopez , Constanze Hungar , Stefan Wappler
CPC分类号： G01C21/30 , G01C21/3811 , G01C21/3837 , G06N5/04 , G06N20/00
摘要： A method for providing map data which include position information for first landmarks of a first landmark class, collecting environment data, and determining a position of the mobile unit. Training data are generated and stored for the first landmarks based on the position of the mobile unit, the collected environment data and the position information. Based on the training data, a first detector module is generated for detecting the first landmark class. The position determination system includes a memory unit for providing map data which include position information for first landmarks of a first landmark class, a data acquisition unit for collecting environment data, a localization unit for determining a position of the mobile unit, and a processing unit for generating and storing training data based on the position of the mobile unit, the collected environment data and the position information for the first landmarks.
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公开(公告)号：US11532097B2
公开(公告)日：2022-12-20
申请号：US17262315
申请日：2019-07-25
发明人： Daniel Wilbers , Christian Merfels , Bernd Rech , Thilo Schaper , Niklas Koch , Stefan Jürgens , David Perdomo Lopez , Constanze Hungar
IPC分类号： G06T7/70
摘要： A method for estimating the quality of localization using sensor detection, wherein the vehicle detects dynamic objects on the road and in the direct surroundings of the road and estimates the dimensions of the objects. The movement of these objects in the near future is estimated. The outer casings of these objects are entered into a map of the surroundings. From the perspective of the sensors used to detect the features in the surroundings, the limitations of the fields of view and the predicted temporal development thereof resulting from the movement of the transportation vehicle and the predicted movements of the objects are entered into the map of the surroundings. The surrounding features that have been entered into the map of the surroundings and which may at visible in the near future are determined. An upper limit for a measure of the quality of localization is estimated.
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公开(公告)号：US11940291B2
公开(公告)日：2024-03-26
申请号：US17263045
申请日：2019-07-25
发明人： Daniel Wilbers , Christian Merfels , Bernd Rech , Thilo Schaper , Niklas Koch , Stefan Jürgens , David Perdomo Lopez , Constanze Hungar
IPC分类号： G01C21/00
CPC分类号： G01C21/3863 , G01C21/3811 , G01C21/3815 , G01C21/3833 , G01C21/3848 , G01C21/387
摘要： A method for updating a map of the surrounding area wherein the map is used when controlling a transportation vehicle. The transportation vehicle attempts, when travelling along a carriageway, to detect a landmark recorded in the map of the surrounding area using sensors. In response to the transportation vehicle being unable to detect the landmark using its sensors, the transportation vehicle prepares a proposal for deletion which is sent to an external central computer. The proposal for deletion is examined in the external central computer and deletes the landmark from the map of the surrounding area in response to the proposal for deletion being verified. In the method, information regarding a visibility range for the landmark is entered in the map of the surrounding area specifying at what range the landmark is visible from a road permitting a more effective detection of landmarks.
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