Vehicle localisation

US12085403B2 · kind B2 · utility

Assignee

• ZENSEACT AB · SE

Inventors

• Junsheng FU · Nödinge, SE
• Han Zhang · Shanghai, CN
• Tony Gustafsson · Skintebo, SE
• Andreas Schindler · Ingolstadt, DE
• Eduardo Sesma Caselles · Mölndal, SE
• Erik Steinmetz · Landvetter, SE
• Pontus Kielén · Mölndal, SE
• Axel Beauvisage · Gothenburg, SE
• Joakim Lin Sörstedt · Gothenburg, SE

Key dates

• Filing date: Dec 27, 2021
• Grant date: Sep 10, 2024
• Expiry date: Nov 22, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G01S2205/01
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

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.