Sensor-aided vehicle positioning system

摘要

A method and system for localizing a vehicle in a digital map includes generating GPS coordinates of the vehicle on the traveled road and retrieving from a database a digital map of a region traveled by the vehicle based on the location of the GPS coordinates. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by longitudinal and lateral coordinates. Roadside objects in the region traveled are sensed by the vehicle. The sensed roadside objects are identified on the digital map. A vehicle position on the traveled road is determined utilizing coordinates of the sensed roadside objects identified in the digital map. The position of the vehicle is localized in the road as a function of the GPS coordinates and the determined vehicle position utilizing the coordinates of the sensed roadside objects.

主权项

1. A method for localizing a vehicle in a digital map comprising:
generating GPS coordinates of the vehicle on the traveled road; retrieving from a database a digital map of a region traveled by the vehicle based on the location of the GPS coordinates, the digital map including a geographic mapping of a traveled road and registered roadside objects, the registered roadside objects being positionally identified in the digital map by longitudinal and lateral coordinates; sensing roadside objects in the region traveled by the vehicle; identifying the sensed roadside objects on the digital map; determining a vehicle position on the traveled road utilizing coordinates of the sensed roadside objects identified in the digital map; and localizing the position of the vehicle in the road of travel as a function of the GPS coordinates and the determined vehicle position utilizing the coordinates of the sensed roadside objects, wherein localizing the position of the vehicle in the road of travel is further a function of identifying a curvature of the road and determining a vehicle position based on a location of the vehicle within the curvature, wherein the curvature formula is represented as:
K=f(s)where s is the position of the vehicle and K is the curvature of the road.