A method performed by a vehicle pose evaluation system for supporting determining a pose of a vehicle from a digital map includes: predicting a vehicle pose; transforming a set of map road references to the selected coordinate system based on the gesture, where the transformed set of map road references forms a set of multi-lines in the selected coordinate system, the set of multi-lines forming a set of multi-line paths each comprising a plurality of line segments; identifying road reference features, each identified road reference feature defining a set of measurement coordinates in the selected coordinate system; projecting each identified road reference feature onto a plurality of line segments so as to obtain a set of projection points, each projection point defining a set of projection coordinates; determining, for each multi-line segment, a deviation parameter with respect to each identified road reference feature based on a projection distance between the measured coordinates of the respective road reference feature and its corresponding projection coordinates; and determining the path deviation of each multi-line path by combining the deviation parameters.
一种由车辆姿势评估系统执行的方法,用于根据数字地图来支持确定车辆的姿势,包括:预测车辆姿势;基于姿势将一组地图道路参考变换到所选坐标系,其中,被变换的一组地图道路参考在所选坐标系中形成一组多线,该组多线形成分别包括多线段的一组多线路径;标识道路参考特征,每个被标识的道路参考特征在所选坐标系中定义一组测量坐标;将被标识的每一个道路参考特征投影到多线段上,以便获得一组投影点,其中,每个投影点定义一组投影坐标;针对每个多线段,基于相应的道路参考特征的测量坐标和其对应的投影坐标之间的投影距离来确定关于每个被标识的道路参考特征的偏差参数;通过将偏差参数进行组合,确定每个多线路径各自的路径偏差。
VEHICLE POSTURE EVALUATION
车辆姿势评估
2023-10-17
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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