Embodiments of the present invention provide a computer-implemented method (30) for estimating the course of a road in the surroundings of a vehicle (11) on the basis of a state function describing the course of the road. Here, the state function comprises a clothoid spline (20). The computer-implemented method (30) further includes the step of providing (31) surroundings measurement data which describes the course of the road at a current position of the vehicle (11) and comprises at least one polynomial function. The computer-implemented method (30) also comprises the steps of transforming (32) the state function and the surroundings measurement data into a shared coordinate system, checking (33a) the measurement data for an error, and if no error is detected, adapting (33) the state function on the basis of the surroundings measurement data in the shared coordinate system. If an error is detected, the error is stored (33b).
本发明实施例提供一种计算机实现的方法(30),该方法用于基于描述道路走向的状态函数来估计在车辆(11)环境中的道路走向。在此,状态函数包括回旋样条(20)。所述计算机实现的方法(30)还包括提供(31)环境测量数据,其描述在车辆(11)当前位置处的道路走向。环境测量数据在此包括至少一个多项式函数。所述计算机实现的方法(30)还包括将状态函数和环境测量数据变换(32)到共同的坐标系中。所述方法(30)还包括检查(33a)测量数据的错误,并且如果没有识别到错误,则在共同的坐标系中基于环境测量数据调整(33)状态函数,如果识别到错误,则存储(33b)该错误。
METHOD AND DEVICE FOR MULTI-SENSOR DATA FUSION FOR AUTOMATED AND AUTONOMOUS VEHICLES
用于自动化和自主车辆的多传感器数据融合的方法和装置
2021-08-31
Patent
Elektronische Ressource
Chinesisch
Method and Device for Multi-Sensor Data Fusion For Automated and Autonomous Vehicles
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