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Apparatus for a self localization of a vehicle

A self-positioning and vehicle technology, which is applied in the traffic control system of road vehicles, measuring devices, satellite radio beacon positioning systems, etc., can solve the problems of not being robust, not applicable to complex urban environments, and not being large

Inactive Publication Date: 2016-01-27
HYUNDAI MOTOR CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Existing technology uses very expensive sensors such as LiDAR sensors, so it is unlikely to be practically used in vehicles
Moreover, according to the prior art, the method of measuring the vehicle position by comparing scan data with landmark information is not sufficiently robust when the surrounding environment changes
[0004] Moreover, the prior art only uses one kind of ranging sensor information, so it is not suitable for complex urban environment

Method used

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  • Apparatus for a self localization of a vehicle
  • Apparatus for a self localization of a vehicle
  • Apparatus for a self localization of a vehicle

Examples

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Embodiment Construction

[0027] Hereinafter, exemplary embodiments of the principles of the present invention are described in more detail with reference to the accompanying drawings.

[0028] Exemplary embodiments of the present principles may detect landmark information using sensors such as cameras and radars, and identify the location of the host vehicle based on the detected landmark information. Here, a landmark refers to a distinguishable feature within the environment in which the vehicle is located.

[0029] figure 1 A schematic block diagram of an apparatus for vehicle self-localization illustrating an exemplary embodiment of the principles of the present invention.

[0030] refer to figure 1 , the device for vehicle self-localization may include a sensor unit 10, a landmark detector 20, a landmark recognizer 30, a position estimator 40, a memory 50, a display 60, and the like.

[0031] The sensor unit 10 may include at least two sensors, and may be configured to measure information of th...

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PUM

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Abstract

The invention relates to an apparatus for a self localization of a vehicle. The apparatus includes a sensor unit, a landmark detector, a landmark recognizer, and a location estimator. The sensor includes at least two sensors and is configured to measure information on environment around the vehicle using each of the at least two sensors. The landmark detector is configured to detect landmark information based on data measured by each sensor. The landmark recognizer is configured to selectively combine landmark information detected based on data measurement of at least one of the at least two sensors to recognize a landmark and reflect fused landmark information to update a probability distribution. The location estimator is configured to use the probability distribution updated by the landmark recognizer to estimate a self location of the vehicle.

Description

technical field [0001] The present invention relates to a device and method for vehicle self-positioning, in particular to a vehicle self-positioning system capable of using cameras and radars to detect landmark information and selectively fusing the detected landmark information to accurately identify the position of the vehicle and the current vehicle position devices and methods. Background technique [0002] With the increasing interest in autonomous vehicles, localization methods that can accurately estimate the location of the vehicle in urban areas become more important. Autonomous vehicles drive based on precise maps. However, a precise map is useless if the driver of the vehicle does not know where the vehicle is currently located in the precise map. In recent years, people have scanned the map environment by using two-dimensional (2D) / three-dimensional light detection and ranging (LiDAR: light detection and ranging) with very high range precision, and then compar...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01S13/86G01S19/46
CPCG01S13/06G01S13/867G01S19/485G01C21/28G01S19/03G01S13/86G09B29/10G08G1/0969
Inventor 俞炳墉许明善吴荣哲
Owner HYUNDAI MOTOR CO LTD
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