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Graph-based method for holistic fusion of measured data

A technology for measuring data and status data, applied in the field of machine-readable storage media, to solve problems such as maintaining automated driving modes

Pending Publication Date: 2021-05-18
ROBERT BOSCH GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Automated driving mode can no longer be maintained in the event of failure or degradation of the surroundings sensor on the vehicle side

Method used

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  • Graph-based method for holistic fusion of measured data
  • Graph-based method for holistic fusion of measured data
  • Graph-based method for holistic fusion of measured data

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0051] figure 1 A plan view of a traffic situation 1 is shown for illustrating a method for redundantly performing localization according to one specific embodiment.

[0052] The traffic situation 1 has a first mobile unit 2 and a second mobile unit 4 . Furthermore, a dynamic object 6 in the form of a vehicle is arranged in the surroundings U of the first mobile unit 2 and the second mobile unit 4 .

[0053] The first mobile unit 2 and the second mobile unit 4 are designed as motor vehicles and can be operated automatically. For this purpose, the first mobile unit 2 and the second mobile unit 4 each have a sensor device 8 , 10 . The sensor devices 8 , 10 can have, for example, radar sensors, GNSS sensors, camera sensors, LIDAR sensors or the like.

[0054] Surroundings U can be sampled by sensor devices 8 , 10 and objects 6 can be detected, for example. Furthermore, the mobile units 2, 4 are able to detect each other.

[0055] In the illustrated embodiment, the first mobi...

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Abstract

A method for fusing state data is disclosed, wherein the method comprises receiving the state data of a first mobile unit and at least one object; receiving the state data of the at least one object and / or the state data of the at least one second mobile unit determined by the sensing device of the second mobile unit through the communication connection; creating nodes in a temporal location map for each set of received state data of the at least one first mobile unit, the at least one second mobile unit and the object; performing data optimization on the state data ascertained by the first mobile unit and / or the state data ascertained by the second mobile unit; creating an optimization problem from the optimized state data ascertained by the first mobile unit and received by the second mobile unit; solving the optimization problem by a solution algorithm, and ascertaining the state data of the first mobile unit and ascertaining the state data of at least one object ascertained by a sensor device of the first mobile unit with improved accuracy. A method, a control device, a computer program and a storage medium for redundant execution of positioning are disclosed.

Description

technical field [0001] The invention relates to a method for fusing status data, a method for redundantly performing positioning, a control device, a computer program and a machine-readable storage medium. Background technique [0002] Automated vehicles and vehicles can be improved if not only their own awareness of their surroundings is expanded with the aid of the received data, but also the received information about the planned and expected behavior of other vehicles is taken into account in their own behavior planning and operating planning. Driver Assistance Systems. [0003] The concept of collective sensing is known, which exchanges warning messages or so-called "cooperative awareness messages" among one another and increases traffic safety. [0004] In addition, so-called "Cooperative Perception Messages" are known, which extend the perception of the surrounding environment and, in addition to the position information and the motion information of the transmitting...

Claims

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Application Information

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IPC IPC(8): G01S13/86G01S13/931G01S17/931G01S19/46G01S5/06
CPCG01S13/931G01S13/867G01S5/06G01S19/46G01S17/931G08G1/161G08G1/22B60W2556/65B60W2556/35B60W2556/25B60W2554/00B60W60/001G05D1/0287G05D1/028G05D1/0088
Inventor A·科赫C·哈斯贝格M·多尔戈夫P·萨兰里蒂斋T·米哈尔凯
Owner ROBERT BOSCH GMBH
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