US 12,188,773 B2
Apparatus and method for determining of correction information of vehicle sensor
Seongsoo Lee, Seoul (KR)
Assigned to SK TELECOM CO., LTD., Seoul (KR)
Filed by SK TELECOM CO., LTD., Seoul (KR)
Filed on Sep. 4, 2021, as Appl. No. 17/467,201.
Application 17/467,201 is a continuation of application No. PCT/KR2020/002976, filed on Mar. 2, 2020.
Claims priority of application No. 10-2019-0026434 (KR), filed on Mar. 7, 2019.
Prior Publication US 2021/0396527 A1, Dec. 23, 2021
Int. Cl. G01C 21/30 (2006.01); B60W 40/105 (2012.01); B60W 40/114 (2012.01); G05D 1/00 (2024.01); G08G 1/052 (2006.01)
CPC G01C 21/30 (2013.01) [B60W 40/105 (2013.01); B60W 40/114 (2013.01); G08G 1/052 (2013.01); B60W 2420/403 (2013.01); G05D 1/0274 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A vehicle sensor correction information determining method comprising:
acquiring an initial attitude angle of a camera of a vehicle by matching information between a camera image photographed by the camera and a first landmark in a first region on a precise map, the first landmark including a traffic lane;
acquiring an initial location of the camera by matching information between the camera image and a second landmark in a second region on the precise map based on the initial attitude angle of the camera, the second landmark excluding the traffic lane, the second region greater than the first region;
acquiring estimated location information of the vehicle based on the initial location of the camera and driving information of the vehicle, wherein the driving information includes wheel speed information and yaw rate information of the vehicle; and
determining a scale factor for a wheel speed sensor as a ratio of a first travel distance as estimated by the acquired estimated location information of the vehicle and a second travel distance of the vehicle as detected by the wheel speed sensor of the vehicle.