A self-localization system is utilized in an ADV to determine a relative position within a lane using certain sensors mounted on a variety of locations of the vehicles. Certain cameras may be mounted on different locations of the vehicles to capture images with respect to the surrounding environment of the vehicle. Based on the captured images, distances between the vehicle and the edges of the lane may be determined using an image recognition process or algorithm. Based on the distances between the vehicle and the edges of the lane, the relative position of the vehicle within the lane can be determined. A relative position of a vehicle within a lane refers to an angle of a heading direction of the vehicle and a longitudinal vector of a center line or reference line of the lane, and a distance between the vehicle and the center line or reference line of the lane.
LANE SELF-LOCALIZATION SYSTEM USING MULTIPLE CAMERAS FOR AUTONOMOUS DRIVING VEHICLES
SPURSELBSTLOKALISIERUNGSSYSTEM MIT MEHREREN KAMERAS FÜR SELBSTFAHRENDE FAHRZEUGE
SYSTÈME D'AUTO-LOCALISATION DE VOIE AU MOYEN DE PLUSIEURS CAMÉRAS POUR VÉHICULES À CONDUITE AUTONOME
2021-06-09
Patent
Elektronische Ressource
Englisch
LANE SELF-LOCALIZATION SYSTEM USING MULTIPLE CAMERAS FOR AUTONOMOUS DRIVING VEHICLES
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