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

摘要

The invention relates to a method for localising a highly automated vehicle (HAV) in a digital localisation map, comprising the steps: S1 sensing features of semi-static objects in an environment of the HAV by means of at least one first sensor; S2 transmitting the features of the semi-static objects and the vehicle position to an evaluation unit; S3 classifying the semi-static objects, the semi-static objects being assigned the feature "semi-static" as the result of the classification; S4 passing the features of the semi-static objects to a local environment model of the HAV, a check being performed during creation of the local environment model as to whether landmarks suitable for localising the HAV are concealed by the semi-static objects in relation to the position and/or an approach trajectory of the HAV; S5 transmitting the local environment map to the HAV in the form of a digital localisation map, the digital localisation map only containing the landmarks suitable for localising the HAV which are not concealed by semi-static objects in relation to the position and/or an approach trajectory of the HAV; and S6 localising the HAV using the digital localisation map. The invention also relates to a corresponding system and to a computer program.