US 11,948,353 B2
Localization of a vehicle in a multi-level road system
Lucia Diego Solana, Gothenburg (SE)
Assigned to Zenuity AB, Gothenburg (SE)
Filed by Zenuity AB, Gothenburg (SE)
Filed on May 6, 2021, as Appl. No. 17/313,779.
Claims priority of application No. 20183385 (EP), filed on Jul. 1, 2020.
Prior Publication US 2022/0004763 A1, Jan. 6, 2022
Int. Cl. H04W 4/029 (2018.01); G06F 18/214 (2023.01); G06F 18/24 (2023.01); G06N 3/08 (2023.01); G06V 20/10 (2022.01); G06V 20/56 (2022.01)
CPC G06V 20/182 (2022.01) [G06F 18/214 (2023.01); G06F 18/24 (2023.01); G06N 3/08 (2013.01); G06V 20/56 (2022.01); H04W 4/029 (2018.02)] 17 Claims
OG exemplary drawing
 
1. A method performed by a road identifying system of a vehicle for localization of the vehicle in a multi-level road system, the method comprising:
determining with support from a positioning system, a position of the vehicle;
identifying based on the vehicle position with support from at least a first digital map, a multi-level road system in which the vehicle is positioned;
identifying with support from the at least first digital map, a number of road levels of the multi-level road system;
obtaining image data with support from one or more image capturing devices adapted to capture surroundings of the vehicle;
determining a road level at which the vehicle is positioned based on the number of road levels and based on feeding the image data through a neural network trained to classify road level based on context of image content;
identifying based on the determined road level with support from the at least first digital map, at least one of a road and a lane of the multi-level road system at which the vehicle is positioned; and
localizing the vehicle in the multi-level road system based on the road and lane of the multi-level road system at which the vehicle is positioned.