VEHICLE LOCALISATION

The present disclosure relates to a method for determining a vehicle pose, predicting a pose (xk, yk, θk) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an...

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Bibliographic Details
Main Authors STEINMETZ, Erik, LIN SÖRSTEDT, Joakim, GUSTAFSSON, Tony, SCHINDLER, Andreas, SESMA CASELLES, Eduardo, ZHANG, Han, BEAUVISAGE, Axel, FU, Junsheng, KIELÉN, Pontus
Format Patent
LanguageEnglish
Published 30.06.2022
Subjects
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION
CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PERFORMING OPERATIONS
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT
SURVEYING
TESTING
TRANSPORTING
VEHICLES IN GENERAL
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Summary:The present disclosure relates to a method for determining a vehicle pose, predicting a pose (xk, yk, θk) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and predicted pose of the vehicle. The transformed set of map road references form a set of polylines in image-frame coordinate system. Identifying a set of corresponding image road reference features in an image acquired by vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (xi, yi) in image-frame. Projecting each of identified set of image road reference features onto formed set of polylines in order to obtain a set of projection points.
Bibliography:Application Number: US202117562478