Aptiv Technologies Ag

Gottfried Wilhelm Leibniz Universitat Hannover

Aron Sommer

Michael H Laur

Krzysztof Kogut

Kai Zhang

Jakub Porebski

Amith Somanath

Nanhu Chen

Mohamed A Moawad

Aniello Sorrentino

Alexander Ioffe

Uri Iurgel

Damjan Karanovic

Joern Ostermann

Jörn Ostermann

Ceyhan Karabulut

Tri Tan Ngo

This document describes methods and systems for vehicle localization based on radar detections. Radar localization starts with building a radar reference map. The radar reference map may be generated and updated using different techniques as described herein. Once a radar reference map is available, real-time localization may be achieved with inexpensive radar sensors and navigation systems. Using the techniques described in this document, the data from the radar sensors and the navigation systems may be processed to identify stationary localization objects, or landmarks, in the vicinity of the vehicle. Comparing the landmark data originating from the onboard sensors and systems of the vehicle with landmark data detailed in the radar reference map may generate an accurate pose of the vehicle in its environment. By using inexpensive radar systems and lower quality navigation systems, a highly accurate vehicle pose may be obtained in a cost-effective manner.

Vehicle localization based on radar detections

Methods and systems are described that enable radar reference map generation. A high-definition (HD) map is received and one or more HD map objects within the HD map are determined. Attributes of the respective HD map objects are determined, and, for each HD map object, one or more occupancy cells of a radar occupancy grid are indicated as occupied space based on the attributes of the respective HD map object. By doing so, a radar reference map may be generated without a vehicle traversing through an area corresponding to the radar reference map.

Radar reference map generation

Methods and systems are described that enable vehicle routing based on availability of radar-localization objects. A request to navigate to a destination is received, and at least two possible routes to the destination are determined. Availabilities of radar-localization objects for the possible routes are determined, and a route is selected based on the availabilities of the radar-localization objects. Furthermore, while traveling along a route, the vehicle is localized based on radar detections of radar-localization objects. A radar-localization quality of the localizing is monitored, and a determination is made that the radar-localization quality has dropped or will drop. Based on the radar-localization quality dropping, the route is modified and/or an operation of a radar module is adjusted. In this way, availabilities of radar-localization objects may be used to select an optimal route and to adjust a current navigation along a route to minimize driver takeover.

Vehicle routing based on availability of radar-localization objects

The disclosure concerns a method for determining a change in position and orientation of an object using data from a synthetic aperture radar (SAR) with the following steps: acquiring a radar image containing the object; dividing the radar image into at least two subimages; acquiring short radar information comprising a first reflected pulse, which has been recorded by the radar and/or a quantity derived therefrom, the first reflected pulse having information about image data of the radar image; for the short radar information, performing an autofocus method which determines a change in distance for each of the at least two subimages; and determining the change in position and orientation of the object given for each point of the object by the respective change in distance of the corresponding subimage.

System and method for determining a change of position and orientation of an object

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Cologne, Germany

Aron Sommer