版權(quán)說(shuō)明：本文檔由用戶提供并上傳，收益歸屬內(nèi)容提供方，若內(nèi)容存在侵權(quán)，請(qǐng)進(jìn)行舉報(bào)或認(rèn)領(lǐng)
文檔簡(jiǎn)介
?
?
?
?
Increasedriverawareness
byprovidingavisual
representationoflane
position
L0
Enhancedcomfortofdrivingprecisionwiththeeliminationofimproperlaneposition
L1
/
L2
Increase“handsandeyes
free”functionalityand
predictivefallback
L2+
<0.2mforhigh-gradereceiver
<1s
<10stosub-meteraccuracy
Examples:
1s(High-gradereceiver)
1s(Automotivegrade)
6s(Androidphone)
Average375B/sperfullconstellation
?
?
?
?
?
?
?
?
?
?
?
L0
L1
L2
L3
L4
L5
?
?
?
?
?
?
?
?
?
?
?
?
?
?
?Elektrobit2022|Confidentialinformation
VehiclePosition&
Ego-MotionEstimationfor
AutomotiveApplications
DirkSpiesswinkel
2022-05-19|online
?Elektrobit2022|PublicInformation
DeadReckoning&GNSS–BestofBothWorlds
GNSS
Advantage:Sourceofabsolutepositions
Disadvantage:Accuracy/availabilitydependentonenvironmentalconditions
DeadReckoning
Advantage:Highavailability
Disadvantage:Accumulationoferrors
EBrobinos
Positioning
GNSS+DeadReckoning
Advantages:
?Highavailability
?Highaccuracy
?Elektrobit2022
|Confidentialinformation
May19,2022
22
?Elektrobit2022|Confidentialinformation
Urbanscenario–GNSSOnly
?CNES(2021)DistributionAirbusDS
?Elektrobit2022|Confidentialinformation
Urbanscenario–DeadReckoning+GNSS
?CNES(2021)DistributionAirbusDS
May19,202224
?Elektrobit2022|Confidentialinformation
EBrobinosPositioning
Architecture
?Elektrobit2022|Publicinformation
PositionEstimation
GlobalPositionEstimation
Deltapositionsand
vehicledynamicsdata
LocalPositionEstimation
Ego-motioninput
Local
Positions
position
Positions
Global
input
Global
HERE
HD
GNSS
GNSS
GyroscopeAccelerometer
Odometer
Architecture:DataFlow
PositioningMaster
SensorCalibration
?Elektrobit2022
|Confidentialinformation
May19,2022
26
PositionEstimation
GlobalPositionEstimation
Deltapositionsand
vehicledynamicsdata
LocalPositionEstimation
Ego-motioninput
Local
Positions
position
Positions
Global
input
Global
HERE
HD
GNSS
GNSS
GyroscopeAccelerometer
Odometer
Architecture:DataFlow-Sensorcalibration
PositioningMaster
Sensor
Calibration
?Elektrobit2022
|Confidentialinformation
May19,2022
27
Sensorcalibration
?MEMSsensorstypicallyusedforautomotivepurposesoftencomewithadriftofthebias
?Uncompensated,evenasmalldeviationintheinputleadstolargedeviationsintheoutput
?EBrobinosPositioningincludesalgorithmstodetermineandcompensatesuchchangesduringruntime
?Elektrobit2022|Confidentialinformation
SensorCalibration
HERE
HD
GNSS
GNSS
GyroscopeAccelerometer
Odometer
Architecture:DataFlow–Localpositionestimation
PositioningMaster
PositionEstimation
GlobalPositionEstimation
Deltapositionsand
vehicledynamicsdata
LocalPositionEstimation
Ego-motioninput
GlobalPositions
LocalPositions
position
Global
input
?Elektrobit2022
|Confidentialinformation
May19,2022
29
?Elektrobit2022
|Confidentialinformation
Localpositionestimation–Definitionlocalcoordinatesystem
?World-fixedcoordinatesystem,originfixedtovehiclepositionatsystemstart
?Origin:Middleofvehicle’srearaxleatsystemstart
?X-Y-Plane:Orthogonaltogravity
?X-Axis:Alongegolineofsight(projectedontoX-Y-Plane)
Localpositionestimation–Properties
?Outputparameters
o3Dlocalposition+accuracyellipsoid
o3Dlocalvelocity+accuracyellipsoid
o3Dlocalacceleration+accuracyellipsoid
o3Dorientation(localyawangle+absolutepitch/rollangle)+accuracy
o3Dorientationrates+accuracy
?Noabsoluteglobalpositioninputused
oPosition(+yawangle)obtainedbyintegrationonly
→inherentdriftduetomissingcorrections
oLeadstosmoothposition(+yawangle)
Usecase:HAD–Environmentmodel
?Elektrobit2022
|Confidentialinformation
Localpositionestimation–Examplepositionoutput
?Elektrobit2022|Confidentialinformation
SensorCalibration
HERE
HD
GNSS
GNSS
GyroscopeAccelerometer
Odometer
Architecture:DataFlow–Localpositionestimation
PositioningMaster
PositionEstimation
GlobalPositionEstimation
Deltapositionsand
vehicledynamicsdata
LocalPositionEstimation
Ego-motioninput
GlobalPositions
LocalPositions
position
Global
input
?Elektrobit2022
|Confidentialinformation
May19,2022
33
Globalpositionestimation–Definitionglobalcoordinatesystem
?World-fixedcoordinatesystemwithabsolutecoordinates(followsdefinitionofWGS84)
oOrigin:centeroftheEarth
oX-Axis:pointingtointersectionofprimemeridianandequator
oY-Axis:pointingtoEastdirection
oZ-Axis:pointingtoNorthdirection
?Outputpropertiessimilartolocalposition:
oLatitude(Φ),longitude(Λ),altitudeinsteadofpositionX,Y,Z
oVelocity/AccelerationpointingtoEast,North,UpinsteadofX,Y,Z
oAbsoluteyawangleinsteadofintegratedyawangle
?Nolong-termdriftduetofusionofabsoluteglobalinput
oBycorrectionaljumpsinherentlynomoresmooth
|Confidentialinformation
?Elektrobit2022
Global
positionestimation
Allapplicationrequiringanabsoluteglobalposition,e.g.mapmatchinginnavigationoreHorizoncontext,eCall,Vehicle-to-X
?Elektrobit2022|Confidentialinformation
Globalpositionestimation–?Localtoglobalembedding“
?Elektrobit2022
|Confidentialinformation
Blue=globalPosition
Red=LocalPosition
Global/Localpositionestimation–Examplepositionoutput(1/4)
Blue=globalPosition
Red=LocalPosition
End
?Elektrobit2022
|Confidentialinformation
?Elektrobit2022|Confidentialinformation
Global/Localpositionestimation–Examplepositionoutput(2/4)
Blue=globalPosition
Red=LocalPosition
BadGNSSaltitudeinput
Global/Localpositionestimation–Examplepositionoutput(3/4)
?Elektrobit2022|Confidentialinformation
?Elektrobit2022|Confidentialinformation
Global/Localpositionestimation–Examplepositionoutput(4/4)
NextGenerationEnhancement-SuspensionModel
?Extensiontolocalpositionestimation
?ModellingofpitchandZdynamics,separationof
o?rigid“movement,thatisonlycausedbytheroad/surfacethevehicleisdrivingon
o?suspended“movement,thatiscausedbythesuspension‘sdampedoscillations
reality
Usecase:augmented
?Elektrobit2022|Confidentialinformation
Suspensionmodel–ExamplePitchDynamics
?Elektrobit2022
|Confidentialinformation
?Elektrobit2022|Confidentialinformation
PerformanceEvaluation
?Elektrobit2022
PerformanceReport
Global
Positions
Referencesystempositionresults
Customer
GlobalReference
ComparisonQuantiles
Sensors
Continuous
Monitoring
EBrobinos
Positioning
SensorData
Performanceevaluation–Globalpositionestimation
R
e
c
o
r
d
i
n
g
?Elektrobit2022
|Confidentialinformation
?Elektrobit2022|Confidentialinformation
UseCases
?Elektrobit2022
Localposition
Positioning
Global
position
EBrobinos
MapMatcher
Continuou
溫馨提示
- 1. 本站所有資源如無(wú)特殊說(shuō)明，都需要本地電腦安裝OFFICE2007和PDF閱讀器。圖紙軟件為CAD,CAXA,PROE,UG,SolidWorks等.壓縮文件請(qǐng)下載最新的WinRAR軟件解壓。
- 2. 本站的文檔不包含任何第三方提供的附件圖紙等，如果需要附件，請(qǐng)聯(lián)系上傳者。文件的所有權(quán)益歸上傳用戶所有。
- 3. 本站RAR壓縮包中若帶圖紙，網(wǎng)頁(yè)內(nèi)容里面會(huì)有圖紙預(yù)覽，若沒(méi)有圖紙預(yù)覽就沒(méi)有圖紙。
- 4. 未經(jīng)權(quán)益所有人同意不得將文件中的內(nèi)容挪作商業(yè)或盈利用途。
- 5. 人人文庫(kù)網(wǎng)僅提供信息存儲(chǔ)空間，僅對(duì)用戶上傳內(nèi)容的表現(xiàn)方式做保護(hù)處理，對(duì)用戶上傳分享的文檔內(nèi)容本身不做任何修改或編輯，并不能對(duì)任何下載內(nèi)容負(fù)責(zé)。
- 6. 下載文件中如有侵權(quán)或不適當(dāng)內(nèi)容，請(qǐng)與我們聯(lián)系，我們立即糾正。
- 7. 本站不保證下載資源的準(zhǔn)確性、安全性和完整性, 同時(shí)也不承擔(dān)用戶因使用這些下載資源對(duì)自己和他人造成任何形式的傷害或損失。
最新文檔
- 2024年通遼小車客運(yùn)從業(yè)資格證考試
- 2024年廣東客運(yùn)從業(yè)資格證實(shí)操考試題庫(kù)及答案解析
- 2024年吉林客運(yùn)員考試題
- 護(hù)理應(yīng)急預(yù)案演練記錄表癲癇
- 我鍛煉我健康！我運(yùn)動(dòng)我快樂(lè)！作文500字
- 02-眼整形中的皮片和皮瓣
- 建筑綠化養(yǎng)護(hù)施工合同模板
- 信用卡風(fēng)險(xiǎn)管理辦法
- 醫(yī)療器械行業(yè)員工待崗合同
- 洗浴中心衛(wèi)生室聘用協(xié)議模板
- 六年級(jí)主題班隊(duì)會(huì)記錄表(6個(gè)表)
- 乳鼠腎細(xì)胞的原代培養(yǎng)盛心磊
- 青島東北亞大宗商品交易中心可行性研究報(bào)告
- 八年級(jí)科學(xué)上冊(cè) 《生命活動(dòng)的調(diào)節(jié)》同步練習(xí)1 浙教版
- 硫酸儲(chǔ)罐標(biāo)準(zhǔn)
- 2023年6月四級(jí)聽(tīng)力第一套真題及聽(tīng)力原文
- GB/T 40016-2021基礎(chǔ)零部件通用元數(shù)據(jù)
- 統(tǒng)編小學(xué)語(yǔ)文五年級(jí)上冊(cè)第七單元解讀
- 搪塑成型工藝
- 體育概論全部課件
- 《整式的加減》第2課時(shí)示范課教學(xué)設(shè)計(jì)【數(shù)學(xué)七年級(jí)上冊(cè)北師大】
評(píng)論
0/150
提交評(píng)論