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.


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    Titel :

    HIGH PRECISION POSITION ESTIMATION METHOD THROUGH ROAD SHAPE CLASSIFICATION-BASED MAP MATCHING AND AUTONOMOUS VEHICLE THEREOF


    Beteiligte:
    HWANG DAE-SUNG (Autor:in) / RYU CHO-RONG (Autor:in) / KIM KA-MIN (Autor:in) / JEONG JI-MIN (Autor:in) / JO KI-CHUN (Autor:in) / KIM SANG-KWON (Autor:in)

    Erscheinungsdatum :

    2022-06-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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