The present invention relates to a method for determining arrangement information for a vehicle (10). The arrangement information comprises a position of the vehicle (10) and an orientation of the vehicle (10) with respect to a stationary coordinate system. In the method, a local driving lane arrangement in the surroundings of the vehicle (10) is detected with sensors (14) of the vehicle (10). A first driving lane arrangement is determined with respect to the stationary coordinate system in dependence on the local driving lane arrangement and a previously determined arrangement information item for the vehicle. A second driving lane arrangement is determined with respect to the stationary coordinate system in dependence on predefined map material. Similarity information is determined in dependence on a geometric similarity between the first driving lane arrangement and the second driving lane arrangement, and previously determined arrangement information for the vehicle (10) and d previously determined driving lane arrangement hypothesis are updated in dependence on the similarity information.
Determining arrangement information for a vehicle
2020-09-15
Patent
Elektronische Ressource
Englisch
IPC: | 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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