The invention relates to a method for multi-dimensional lane matching for autonomous vehicle positioning. A method for updating a location of an autonomous vehicle includes receiving perceptual input data from a sensor of the autonomous vehicle; and receiving map data including road lane information in the vicinity of the autonomous vehicle. The method includes processing perceived input data to extract perceived road lane information, the perceived road lane information including a perceived x-position, a perceived y-position, a perceived z-position, a perceived lane type, a perceived lane color, and a perceived lane curvature; and processing the map data to extract map road lane information including map x position, map y position, map z position, map lane type, map lane color, and map lane curvature. The method comprises the following steps: calculating a transformation matrix according to sensed road lane information and map road lane information; and updating the map data and the location of the vehicle based on the transformation matrix.
本发明涉及用于自主车辆定位的多维车道匹配的方法。一种用于更新自主车辆的定位的方法包括:从自主车辆的传感器接收感知输入数据;以及接收地图数据,该地图数据包括在自主车辆附近的道路车道信息。该方法包括:处理感知输入数据以提取感知的道路车道信息,该感知的道路车道信息包括感知的x位置、感知的y位置、感知的z位置、感知的车道类型、感知的车道颜色和感知的车道曲率;以及处理地图数据以提取地图道路车道信息,该地图道路车道信息包括地图x位置、地图y位置、地图z位置、地图车道类型、地图车道颜色和地图车道曲率。该方法包括:根据感知的道路车道信息和地图道路车道信息计算变换矩阵;以及基于变换矩阵更新地图数据和车辆的定位。
Method for multi-dimensional lane matching for autonomous vehicle positioning
用于自主车辆定位的多维车道匹配的方法
2022-07-19
Patent
Electronic Resource
Chinese
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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