US 12,085,403 B2
Vehicle localisation
Junsheng Fu, Nödinge (SE); Han Zhang, Shanghai (CN); Tony Gustafsson, Askim (SE); Andreas Schindler, Gothenburg (SE); Eduardo Sesma Caselles, Västra Frölunda (SE); Erik Steinmetz, Landvetter (SE); Pontus Kielén, Mölndal (SE); Axel Beauvisage, Gothenburg (SE); and Joakim Lin Sörstedt, Gothenburg (SE)
Assigned to ZENSEACT AB, Gothenburg (SE)
Filed by ZENSEACT AB, Gothenburg (SE)
Filed on Dec. 27, 2021, as Appl. No. 17/562,478.
Claims priority of application No. 20217372 (EP), filed on Dec. 28, 2020.
Prior Publication US 2022/0205804 A1, Jun. 30, 2022
Int. Cl. G01C 21/36 (2006.01); B60W 40/10 (2012.01)
CPC G01C 21/3638 (2013.01) [B60W 40/10 (2013.01); G01C 21/3644 (2013.01); G01C 21/3694 (2013.01); B60W 2420/403 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method for determining a vehicle pose, the method comprising:
predicting a pose of the vehicle on a map based on sensor data acquired by a vehicle localization system;
transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and the predicted pose of the vehicle, wherein the transformed set of map road references form a set of polylines in the image-frame coordinate system;
identifying a set of corresponding image road reference features in an image acquired by the vehicle-mounted camera, each identified road references feature defining a set of measurement coordinates in the image-frame;
projecting each of the identified set of image road reference features onto the formed set of polylines in order to obtain a set of projection points, wherein each projection point defines a set of projection coordinates;
determining an error parameter based on a difference between the measurement coordinates and the corresponding projection coordinates;
updating the predicted pose based on the determined error parameter; and
controlling the vehicle based on the updated pose.