The invention relates to a method and a sensor device for self-positioning a vehicle (2) in a parking installation, according to which a first pose of the vehicle (2) is determined. Environmental sensor data is generated by means of an environmental sensor device (4a, 4b), and landmarks (6a, 6b, 6c, 6d, 7, 7, 9a, 9d, 9c) in the environment are detected on the basis of the environmental sensor data. The position of the landmark (6a, 6b, 6c, 6d, 7, 7, 9a, 9d, 9c) is determined and a second pose of the vehicle (2) is determined therefrom. According to the invention, stored correspondence rules are read, which correspond the first pose to the at least one preferred sensor type or the at least one main landmark type, and a first part of the environmental sensor data, which is generated by means of a first environmental sensor system (4a, 4b) of the environmental sensor device (4a, 4b) designed according to the first sensor type, is selected therefrom. In order to detect landmarks (6a, 6b, 6c, 6d, 7, 7, 9a, 9d, 9c), a first landmark detection algorithm is applied to a first portion of the environmental sensor data.
本发明涉及用于车辆(2)在停车设施中进行自定位的方法和传感器设备,根据所述方法,确定车辆(2)的第一位姿。借助于环境传感器装置(4a、4b)产生环境传感器数据,基于环境传感器数据探测在环境中的地标(6a、6b、6c、6d、7、7、9a、9d、9c)。确定地标(6a、6b、6c、6d、7、7、9a、9d、9c)的位置,并且据此确定车辆(2)的第二位姿。读取存储的对应规则,其使第一位姿对应于至少一种优选传感器类型或至少一种主要的地标类型,并且据此选择环境传感器数据的第一部分,该第一部分借助于环境传感器装置(4a、4b)的按照第一传感器类型构造的第一环境传感器系统(4a、4b)产生。为了探测地标(6a、6b、6c、6d、7、7、9a、9d、9c),对环境传感器数据的第一部分应用第一地标探测算法。
Self-positioning of vehicle in parking installation
车辆在停车设施中的自定位
13.01.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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