Method for estimating the localization quality in the self-localization of a vehicle, device for carrying out method steps of the method, vehicle and computer program

摘要

The method for estimating the localization quality can include the following steps: The vehicle (10) detects dynamic objects on the road and in the immediate vicinity of the road, e.g. B. other vehicles, and estimates their dimensions. The movement of these dynamic objects (12) in the near future is estimated. The envelopes of these objects (12) are entered in a surrounding map (UK). From the perspective of the sensors (150, 186), which are used for the detection of the environmental features, the restrictions of the viewing areas as well as their predicted temporal development due to the own movement of the vehicle (10) and the predicted movements of the dynamic objects (12) into the environment map ( UK) entered. It is determined which environmental features entered in the area map (UK) may be visible in the best case in the near future. An upper limit for a quality measure of the localization is estimated.