Robert Boschgmbh

Timo Nachstedt

Carsten Hasberg

Tobias Strauss

Georg Krause

Vladimir Gerts

Michael Jung

Renlin Li

Ross Kidson

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.

Method for ascertaining an initial pose of a vehicle

A method for generating a map display for vehicles. The method includes receiving vehicle sensor data; ascertaining poses of the vehicles based on the vehicle sensor data; generating subsets of the plurality of poses by combining poses of drives that have been carried out on an identical subsection of the route, a course of the respective subsection of the route being described by the vehicle sensor data assigned to the poses of every subset; generating sub-segments of the map display based on the subsets of the poses, for each subset a sub-segment being generated, and a course of the traffic lane within a sub-segment corresponding to one of the subsets being ascertained based on the poses of a subset; interpreting the sub-segments as nodes of a graph display of the map display and connecting sub-segments via edges of the graph display.

Method for generating a map display for vehicles

A method for certifying map elements for safety-critical driving functions by a control unit, at least one observation variable of at least one mapping step being ascertained by at least one map element after an implementation of the mapping step by a monitoring function, and being compared with a setpoint value of the observation variable, at least one result value being calculated based on a comparison of the observation variable with the setpoint value of the observation variable for the at least one mapping step by the monitoring function, the at least one result value being stored as a certificate and being linked with the at least one map element. A control unit, a computer program as well as a machine-readable memory medium are also described.

Optimized subdivision of digital maps into map sections

Growing community of inventors

Benningen, Germany

Timo Nachstedt