The invention relates to a method and to a device for determining a roadway model (12) by means of recursive estimation and a vehicle (14). The recursion process has the following steps: sensory acquisition of observation data (2, 3) which characterized the surroundings of the vehicle or the movement thereof; acquisition of map data (4) which characterize the surroundings of the vehicle; generation of a multiplicity of different hypotheses (9-11) for the roadway model to be determined, according to a parameterised status function (5A), wherein each of the hypotheses (9-11) represents a possible roadway model for the current recursion step and is characterized by a different Association (6a, 6b), generated by means of corresponding parameterisation, of the observation data (2, 3) and map data (4) which respectively serve as input variables of the state function (5a, 5b); estimating a confidence value relating to a predetermined confidence measure for each of the hypotheses (9-11) of the current recursion step by means of a recursive estimation method using at least one hypothesis (7, 8) from the preceding recursion step as an input variable; selecting, on the basis of the estimated confidence values, one of the hypotheses (9-11) as a roadway model (12) for the surroundings of the vehicle (14) for the current recursion step.
VERFAHREN UND VORRICHTUNG ZUM ERMITTELN EINES FAHRBAHNMODELLS FÜR EIN FAHRZEUGUMFELD
METHOD AND DEVICE FOR DETERMINING A ROADWAY MODEL FOR THE SURROUNDINGS OF A VEHICLE
PROCÉDÉ ET DISPOSITIF PERMETTANT DE DÉTERMINER UN MODÈLE DE CHAUSSÉE POUR UN ENVIRONNEMENT DE VÉHICULE
2024-05-29
Patent
Electronic Resource
German
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 / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES |
VERFAHREN UND VORRICHTUNG ZUM ERMITTELN EINES FAHRBAHNMODELLS FÜR EIN FAHRZEUGUMFELD
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