A method for ascertaining an initial pose of a vehicle using a control device. Measured data ascertained by a GNSS sensor system and/or an odometry sensor system are received and evaluated to ascertain an approximate pose of the vehicle with a margin of uncertainty. At least one trajectory of road users is extracted from a trajectory map for the ascertained margin of uncertainty. Test points are positioned along the extracted trajectory. An optimization algorithm is performed for each test point along the trajectory. The optimization algorithm ascertains poses having corresponding cost functions. A pose having the greatest cost function is determined as the initial pose of the vehicle from the poses ascertained by the optimization algorithm. A control device, a computer program, and a machine-readable storage medium are also provided.


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    Title :

    VERFAHREN ZUM ERMITTELN EINER AUSGANGSPOSE EINES FAHRZEUGS


    Additional title:

    METHOD FOR DETERMINING AN INITIAL POSITION OF A VEHICLE
    PROCÉDÉ DE DÉTERMINATION D'UNE POSITION INITIALE D'UN VÉHICULE


    Contributors:
    LI RENLIN (author) / KRAUSE GEORG (author) / NACHSTEDT TIMO (author)

    Publication date :

    2023-03-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    German


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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