METHOD FOR LOCALISING A MORE HIGHLY AUTOMATED, E.G. HIGHLY AUTOMATED VEHICLE (HAV) IN A DIGITAL LOCALISATION MAP

摘要

A method is described for localizing a highly automated vehicle (HAV) in a digital localization map, including the following steps: S1 sensing features of semi-static objects in an environment of the HAV with the aid of at least one first sensor; S2 transmitting the features of the semi-static objects as well as the vehicle position to an evaluation unit; S3 classifying the semi-static objects, the feature “semi-static” being assigned to the semi-static objects as a result of the classification; S4 transferring the features of the semi-static objects into a local driving-environment model of the HAV, when creating the local driving-environment model, it being checked whether landmarks suitable for localizing the HAV are hidden by the semi-static objects in terms of the position and/or an approach trajectory of the HAV; S5 transmitting the local driving-environment model to the HAV in the form of a digital localization map, the digital localization map containing only those landmarks suitable for localizing the HAV which are not hidden by semi-static objects in terms of the position and/or an approach trajectory of the HAV; and S6 localizing the HAV using the digital localization map. In addition, a corresponding system and computer program are described.