US 12,358,514 B2
Vehicle pose assessment
Junsheng Fu, Nödinge (SE); Axel Beauvisage, Gothenburg (SE); Blazej Slusarek, Hisings Backa (SE); Eduardo Sesma Caselles, Västra Frölunda (SE); Pontus Kielén, Mölndal (SE); Markus Hammarsten, Gothenburg (SE); Tony Gustafsson, Askim (SE); and Eiliv Hägg, Gothenburg (SE)
Assigned to TELEFONAKTIEBOLAGET LM ERICSSON (PUBL), Stockholm (SE)
Filed by Zenseact AB, Gothenburg (SE)
Filed on Mar. 30, 2023, as Appl. No. 18/193,258.
Claims priority of application No. 22166949 (EP), filed on Apr. 6, 2022.
Prior Publication US 2023/0322236 A1, Oct. 12, 2023
Int. Cl. G01C 21/30 (2006.01); B60W 40/06 (2012.01); B60W 40/10 (2012.01); G06V 20/56 (2022.01)
CPC B60W 40/10 (2013.01) [B60W 40/06 (2013.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2520/06 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method performed by a vehicle pose assessment system for supporting determining a pose of a vehicle in view of a digital map, the method comprising:
predicting a pose of the vehicle based on sensor data acquired by a vehicle localization system;
transforming to a selected coordinate system a set of map road references of a portion of the digital map based on the predicted pose of the vehicle, the transformed set of map road references forming a set of polylines in the selected coordinate system, which set of polylines forms a set of polyline paths respectively comprising segments of polylines;
identifying a set of corresponding sensor-captured road reference features acquired by a vehicle-mounted surrounding detecting device, each identified road reference feature defining a set of measurement coordinates in the selected coordinate system;
projecting each of the identified set of road reference features onto the polyline segments in order to obtain a set of projection points, each projection point defining a set of projection coordinates;
determining for each polyline segment, deviation parameters in view of each identified road reference feature, based on a projection distance between respective road reference feature's measurement coordinates and its corresponding polyline segment projection coordinates, for each polyline segment onto which one or more road reference features are having deviations fulfilling deviation criteria, the polyline segment is assigned predeterminable deviation parameters in view of those one or more road reference features; and
determining by combining the deviation parameters of respective polyline path's polyline segments, a respective path deviation for each polyline path.