The invention relates to compensation for vertical road curvature in road shape estimation. A method of estimating a vertical offset of a road segment of a vehicle includes: tracking at least one road reference on a road segment from a first viewpoint at a first time to form a first representation of the at least one road reference; acquiring vehicle movement data over a time period from the first moment to the second moment; tracking the at least one road reference on the road segment from a second point of view at a second time to form a second representation of the at least one road reference, the first and second representations based on a defined mathematical function; transforming a point of the first representation from a coordinate system of the first representation to a coordinate system of the second representation based on the acquired movement data, applying vertical coordinates to the transformed point to calculate a set of vertical and lateral coordinates of a projection satisfying a defined mathematical function and a maximum error value; determining a vertical offset based on the applied vertical coordinates satisfying the defined mathematical function and the maximum error value and the acquired vehicle movement data.
本公开涉及在路形估计中对于垂直道路曲度的补偿。估计车辆的道路段的垂直偏移的方法包括:从第一观察点在第一时刻追踪道路段上至少一个道路参考以形成至少一个道路参考的第一表示;获取从第一时刻延续到第二时刻的时间段上的车辆移动数据;从第二观察点在第二时刻追踪道路段上至少一个道路参考以形成至少一个道路参考的第二表示,第一和第二表示基于定义的数学函数;基于获取的移动数据将第一表示的点从第一表示的坐标系统变换到第二表示的坐标系统,对变换后的点应用垂直坐标以计算满足定义的数学函数和最大误差值的投影的纵向坐标和横向坐标的集合;基于应用的满足定义的数学函数和最大误差值的垂直坐标和获取的车辆移动数据确定垂直偏移。
Compensation for vertical road curvature in road shape estimation
在路形估计中对于垂直道路曲度的补偿
2021-08-27
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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