Localization in complex traffic scenarios with the aid of markings

Abstract

A method, which can be implemented by a control unit, for carrying out a localization of at least one vehicle by a vehicle-side control unit includes receiving measuring data from at least one sensor, ascertaining at least one marking from the measuring data, and associating the ascertained marking with a marking entered into a digital map for determining a position.

Claims

1. A method for carrying out a localization of a vehicle, the method comprising: at least one sensor of the vehicle outputting, towards each of two or more separate infrastructure structures that each includes a respective set of at least two reflectors, a respective sensor signal, at least one of which is a respective LIDAR signal, wherein each of the respective sets of the at least two reflectors includes: a respective radar reflector; and a respective LIDAR reflector that is shaped to produce signal reflections in different directions; obtaining, by the at least one sensor, reflections of the output signals reflected from the two or more separate infrastructure structures; performing, by a processor, a triangulation using the obtained reflections and based on respective directionalities indicated by the signal reflections of respective LIDAR reflectors; associating, by the processor, the infrastructure structures, as represented by the triangulation, with one of a plurality of sets of markings that represent the infrastructure structures and that are in a digital map; and determining a position of the vehicle based on the association with the one of the plurality of sets of markings; wherein different ones of the plurality of sets of markings differ from one another with respect to respective marking distances of the respective sets, each of the marking distances being a respective distance separating the markings of a respective single one of the sets, the determination of the position of the vehicle being based on a determined correspondence of a recognized inter-marking distance detected based on the reflections to the marking distances.

2. The method of claim 1, wherein the associating includes comparing a relative position of the infrastructure structures indicated by the triangulation to positions of the markings in the digital map relative to each other, and wherein the digital map is stored in a control unit of the vehicle or outside of the vehicle.

3. The method of claim 1, wherein the triangulation is performed using reflections from at least four infrastructure structures.

4. The method of claim 1, wherein: the at least two reflectors are attached to the infrastructure structures higher than the vehicle; and the obtaining of the reflections is performed simultaneously by the vehicle and another vehicle.

5. The method of claim 1, wherein at least one of the radar reflectors is an active radar reflector.

6. The method of claim 1, wherein at least one of the reflectors has a geometric shape predefined in a control unit of the vehicle for recognizing in an image obtained by a camera.

7. The method of claim 1, wherein at least one of the sets of reflectors includes a camera-visible marking that has a coating.

8. The method of claim 1, wherein at least one of the infrastructure structures is another region of the roadway or another roadway.

9. The method of claim 1, wherein at least one of the radar reflectors is a passive radar reflector.

10. The method of claim 1, wherein at least one of the radar reflectors is a 360° triple mirror.

11. The method of claim 1, wherein each of the respective radar reflectors has a unique signature with which a radar sensor of the vehicle is able to uniquely associate reflected radar signals with the respective radar reflectors.

12. The method of claim 1, wherein the LIDAR reflector is a cat's eye reflector arranged above a roadway on a pole.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows a schematic representation of a system according to an example embodiment of the present invention.

(2) FIG. 2 shows a schematic representation of a marking according to an example embodiment of the present invention.

DETAILED DESCRIPTION

(3) FIG. 1 shows a system 1 according to an example embodiment. System 1 includes two vehicles 2, 4 traveling in an intersection. The intersection is a safety-relevant or safety-critical area 6 here, in which a precise localization of vehicles 2, 4 is to be ensured. The intersection serves only as an example embodiment of an urban traffic area for illustrating the method. The method can be applied to an arbitrary other city and/or to out-of-city traffic areas. A method according to an example embodiment can be illustrated with respect to system 1.

(4) Vehicles 2, 4 include sensors 8, 10. First vehicle 2 includes a radar sensor 8. Second vehicle 4 is equipped with a LIDAR sensor 10. Sensors 8, 10 are each connected to a control unit 12 in a data-conducting manner. Control unit 12 can thus read out and evaluate the measuring data of sensors 8, 10. Control unit 12 can ascertain markings 14 and/or partial markings 16 from the measuring data.

(5) Control unit 12 includes an integrated digital map 18. Map 18 includes all markings 14 and partial markings 16. The markings ascertained from the measuring data of sensors 8, 10 can thus be identified and localized by control unit 12 in digital map 18. An unambiguous position can thus be assigned to vehicles 2, 4 within safety-relevant area 6. This position is independent from GPS sensors and thus ascertainable in a robust manner.

(6) According to the example embodiment, marking 14 is mounted on a stop light 20. Partial marking 16 is situated on a side of a roadway 22 and includes a radar reflector and a light reflector, which are described in greater detail in FIG. 2.

(7) FIG. 2 shows a schematic top view onto a marking 14 according to an example embodiment. Marking 14 includes a 360° reflector 24 for visible and non-visible light. Reflector 24 can be implemented as a cat's eye or as a retroreflector and reflect incoming beams of a LIDAR sensor 10 back in the direction of the radiation source.

(8) Marking 14 furthermore includes a ball 26 that has a high contrast with respect to safety-relevant area 6 and is thus optimally extractable from measuring data of camera sensors, which are not shown. Ball 26 represents a geometric shape with a defined coating that are optimally detectable by camera sensors.

(9) Marking 14 includes a radar reflector 28 for marking 14 to be detectable by radar sensors 8. Radar reflector 28 is implemented as a passive radar reflector 28. In particular, radar reflector 28 is designed as a 360° triple mirror and can thus be detected by radar sensors 8 from different directions.

(10) According to the example embodiment, the respective components 24, 26, 28 of marking 14 are situated in a row in a vertical direction and are mechanically connected to one another.

(11) Marking 14 can be split into at least one partial marking 16 as a function of local circumstances. A partial marking 16 can include at least one of components 24, 26, 28.

(12) Marking 14 and/or partial marking 16 can be positioned in different positions of area 6. Markings 14 and/or partial markings 16 can preferably be detectable by a maximum possible number of vehicles without restrictions.