System and method for lane vehicle localization with lane marking detection and likelihood scoring

摘要

A computer-implemented method and a system for vehicle localization. The method includes identifying expected lane lines based on a lane level map and a position of a vehicle and identifying observed lane lines based on images captured by an imaging device of the vehicle and the position of the vehicle. The method includes matching the expected lane lines to the observed lane lines and determining a likelihood score based on the matching. The method includes determining a best vehicle pose based on the likelihood score.

主权项

1. A computer-implemented method for vehicle localization, comprising:
identifying expected lane lines based on a lane level map and a position of a vehicle; identifying observed lane lines based on images captured by an imaging device of the vehicle and the position of the vehicle; matching the expected lane lines to the observed lane lines, wherein matching the expected lane lines to the observed lane lines includes determining one or more matched line pairs, each pair including an expected lane line matched to an observed lane line, determining a number of matched observed lane lines, and determining a number of unmatched observed lane lines; determining a likelihood score based on the matching, wherein determining the likelihood score is based on a difference between the expected lane line and the observed lane line in each matched pair and the number of unmatched observer lane lines; and determining a best vehicle pose based on the likelihood score.