High precision position estimation method through road shape classification-based map matching and autonomous vehicle thereof
US11731649B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Aug 31, 2021 |
| Grant date | Aug 22, 2023 |
| Priority date | — |
| Expiry date | Mar 8, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2556/40
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A high precision position estimation method through a road shape classification-based map matching implemented by a high precision position estimation system of an autonomous vehicle includes classifying a road into a straight lane, a curved lane, and a clothoid curve lane by the lane matching between a sensor lane segment and a map lane segment, generating a movement amount value calculated by applying a geometric feature-based map matching or an optimization-based map matching to the classified lane as a covariance matrix, and calculating the latitude, longitude, and traveling direction of a vehicle to be estimated by combining the covariance matrix with sensor measurement values of a vehicle speed and a yaw rate by an extended Kalman filter.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.