Patent ID: 11953613
Assignee: ABB SCHWEIZ AG
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. A position estimation device adapted for determining the position for a vehicle, the position estimation device comprising:
receiving a measured sensor response determined with a scanning sensor of the vehicle, which is scanning an environment of the vehicle; and
determining the estimated position of the vehicle by:
generating a virtual sensor response for a possible position of the vehicle from an environmental map; and
comparing the measured sensor response with the virtual sensor response for determining how much the possible position and a real position of the vehicle at which the measured sensor response was generated coincide;
wherein the environmental map models slopes of a terrain;
wherein the virtual sensor response is determined by calculating an incident angle from a virtual ray from the scanning sensors at a point of the environmental map, wherein the incident angle is calculated from the slope at the point of the environmental map.