A vehicle system for correcting a camera-based estimated position of a road object in real-time is provided. The system includes a camera for generating an image input signal, the image input signal including image sensor data associated with a road object. The system also includes one or more input devices for generating vehicle input signals including vehicle sensor data related to vehicle position, speed, and direction of travel. The system also includes a computer including one or more processors and a non-transitory computer readable medium (CRM) storing instructions. The processor is programmed to match the image sensor data and the vehicle sensor data to each other based on a common acquisition time. The processor is also programmed to determine an error model and a deviation based on the current position of the camera from the predicted position. The processor is further programmed to update the error model based on the deviation.
提供了一种用于实时校正道路物体基于摄像头的估计位置的车辆系统。该系统包括用于生成图像输入信号的摄像头,图像输入信号包括与道路物体相关联的图像传感器数据。该系统还包括一个或多个用于生成车辆输入信号的输入设备,车辆输入信号包括与车辆位置、速度和行驶方向相关的车辆传感器数据。该系统还包括计算机,其包括一个或多个处理器和存储指令的非暂时性计算机可读介质(CRM)。处理器被编程为基于共同的采集时间使图像传感器数据和车辆传感器数据相互匹配。处理器还被编程为确定误差模型和基于摄像头的当前位置与预测位置的偏差。处理器还被进一步编程为基于偏差更新误差模型。
System and method for correcting estimated position of road object in real time
用于实时校正道路物体估计位置的系统和方法
2024-06-07
Patent
Electronic Resource
Chinese
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