Method for determining measured values by means of at least two different measuring methods and use thereof

Patent metadata

Field	Value
Publication number	US-11754398-B2
Application number	US-202017609127-A
Country	US
Kind code	B2
Filing date	Apr 22, 2020
Priority date	May 8, 2019
Publication date	Sep 12, 2023
Grant date	Sep 12, 2023

Abstract

A method for determining measured values using at least two different measuring methods involves, with each of the measuring methods, determining provisional measured values and suppling data for an integrity of the determined provisional measured values. The determined provisional measured values are merged to give combined measured values and information on the integrity of the combined measured values is determined. Depending on the data concerning the integrity of the determined provisional measured values and the combined measured values and depending on a period of time during which the determined provisional measured values and the combined measured values in each case meet specified requirements regarding their integrity, it is decided which of the measured values are supplied for further processing.

First claim

The invention claimed is:

1. A method, comprising:
determining a first measured value by a first measuring method;
determining a second measured value by a second measuring method;
determining for each of the first and second measured values first and second provisional measured values, respectively;
receiving first and second data for integrity of the first and second determined provisional measured values, respectively;
merging the first and second provisional measured values to produce a combined measured value and information on an integrity of the combined measured value;
selecting at least one of the first provisional measured value, second provisional measured value, and the combined measured value for further processing based on
the first data for integrity, the second data for integrity, and the integrity of the combined measured value, and
a period of time during which the first provisional measured value, second provisional measured value, and the combined measured value respectively meet specified integrity requirements.

2. The method of claim 1 , wherein, depending upon the selection of the at least one of the first provisional measured value, second provisional measured value, and the combined measured value,
the combined measured value is supplied for the further processing, or
one of the first and second measuring methods is selected and the determined provisional measured value of the selected measuring method is supplied for the further processing.

3. The method of claim 1 , further comprising:
determining a period of time to supply the selected at least one of the first provisional measured value, second provisional measured value, and the combined measured value.

4. The method of claim 3 , wherein the period of time is limited.

5. The method of claim 1 , wherein the at least one of the first provisional measured value, second provisional measured value, and the combined measured value is selected for a majority of further processing devices as a function of the first data for integrity, the second data for integrity, or the integrity of the combined measured value, respectively, and depending on a period of time during which the first provisional measured value, second provisional measured value, and the combined measured value respectively satisfy specific integrity requirements.

6. The method of claim 1 , wherein the first data for integrity, the second data for integrity, or the integrity of the combined measured value are measures of quality of a reliability of a respective one of the first provisional measured value, the second provisional measured value, and the combined measured value.

7. The method of claim 1 , wherein the first and second measuring methods respectively comprise a landmark-based measuring method and a satellite-supported measuring method based on at least one global navigation satellite system.

8. The method of claim 1 , wherein the first and second measuring methods comprise at least two different measuring methods for object recognition or distance determination, wherein the at least two different measuring methods comprise at least one radar-based measuring method, at least one lidar-based measuring method, and/or at least one camera-based measuring method.

9. A method, comprising:
determining, by a vehicle, a first measured value by a first measuring method;
determining, by the vehicle, a second measured value by a second measuring method;
determining, by the vehicle, for each of the first and second measured values first and second provisional measured values, respectively;
receiving first and second data for integrity of the first and second determined provisional measured values, respectively;
merging, by the vehicle, the first and second provisional measured values to produce a combined measured value and information on an integrity of the combined measured value;
selecting, by the vehicle, at least one of the first provisional measured value, second provisional measured value, and the combined measured value based on
the first data for integrity, the second data for integrity, and the integrity of the combined measured value, and
a period of time during which the first provisional measured value, second provisional measured value, and the combined measured value respectively meet specified integrity requirements;

determining whether to maintain or initiate an autonomous driving mode of the vehicle based on the selected one of the first provisional measured value, second provisional measured value, and the combined measured value; and
using the selected one of the first provisional measured value, second provisional measured value, and the combined measured value in the autonomous driving mode.

10. The method of claim 9 , wherein, depending upon the selection of the at least one of the first provisional measured value, second provisional measured value, and the combined measured value,
the combined measured value is supplied for the further processing, or
one of the first and second measuring methods is selected and the determined provisional measured value of the selected measuring method is supplied for the further processing.

11. The method of claim 9 , further comprising:
determining a period of time to supply the selected at least one of the first provisional measured value, second provisional measured value, and the combined measured value.

12. The method of claim 9 , wherein the first data for integrity, the second data for integrity, or the integrity of the combined measured value are measures of quality of a reliability of a respective one of the first provisional measured value, the second provisional measured value, and the combined measured value.

13. The method of claim 9 , wherein the first and second measuring methods respectively comprise a landmark-based measuring method and a satellite-supported measuring method based on at least one global navigation satellite system.

14. The method of claim 9 , wherein the first and second measuring methods comprise at least two different measuring methods for object recognition or distance determination, wherein the at least two different measuring methods comprise at least one radar-based measuring method, at least one lidar-based measuring method, and/or at least one camera-based measuring method.

15. A method, comprising:
determining a first measured value of a position of a vehicle by a first measuring method;
determining a second measured value of the position of the vehicle by a second measuring method;
determining, for each of the first and second measured values of the position of the vehicle, first and second provisional measured values of the position of the vehicle, respectively;
receiving first and second data for integrity of the first and second determined provisional measured values of the position of the vehicle, respectively;
merging the first and second provisional measured values of the position of the vehicle to produce a combined measured value of the position of the vehicle and information on an integrity of the combined measured value of the position of the vehicle;
selecting at least one of the first provisional measured value of the position of the vehicle, second provisional measured value of the position of the vehicle, and the combined measured value of the position of the vehicle for further processing based on
the first data for integrity, the second data for integrity, and the integrity of the combined measured value, and
a period of time during which the first provisional measured value of the position of the vehicle, second provisional measu

Assignees

• Daimler Ag
• Mercedes Benz Group Ag

Inventors

• Ries Florian
• Schuster Frank
• Haueis Martin

Classifications

• G05D1/0055

  with safety arrangements · CPC title

• G01S5/0263 Primary

  by combining or switching between positions derived from two or more separate positioning systems · CPC title

• G01C21/005 Primary

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title

• G01S19/48

  by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system · CPC title

• G01S5/0258

  by combining or switching between measurements derived from different systems · CPC title