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.
HIGH PRECISION POSITION ESTIMATION METHOD THROUGH ROAD SHAPE CLASSIFICATION-BASED MAP MATCHING AND AUTONOMOUS VEHICLE THEREOF
2022-06-09
Patent
Elektronische Ressource
Englisch
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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