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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    Title :

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


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

    Publication date :

    2022-06-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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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    HWANG DAE-SUNG / RYU CHO-RONG / KIM KA-MIN et al. | European Patent Office | 2023

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    Method for High Precision Position Estimation Through Map Matching Based on Road Shape Classification and Autonomous Vehicles Thereof

    HWANG DAE SUNG / RYU CHO RONG / KIM KA MIN et al. | European Patent Office | 2022

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    Precise Position Estimation of Autonomous Vehicle Based on Map-Matching

    Suganuma, N. / Uozumi, T. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2011


    Precision localization of autonomous vehicles relative to road map based on map matching

    Uozumi, T. / Suganuma, N. / Japan Society of Automotive Engineers | British Library Conference Proceedings | 2010