SENSOR-AIDED VEHICLE POSITIONING SYSTEM

摘要

A method for localizing a vehicle in a digital map. GPS raw measurement data is retrieved from satellites. A digital map of a region traveled by the vehicle based on the raw measurement data is retrieved from a database. 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 earth-fixed coordinates. Roadside objects are sensed in the region traveled by the vehicle using distance data and bearing angle data. The sensed roadside objects are matched on the digital map. A vehicle position is determined on the traveled road by fusing raw measurement data and sensor measurements of the identified roadside objects. The position of the vehicle is represented as a function of linearizing raw measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively.

主权项

1. A method for localizing a vehicle in a digital map comprising:
retrieving GPS raw measurement data from satellites in a navigation satellite system; retrieving from a database a digital map of a region traveled by the vehicle based on the raw measurement data, 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 earth-fixed coordinates; sensing roadside objects in the region traveled by the vehicle using distance data and bearing angle data; matching the sensed roadside objects on the digital map; determining a vehicle position on the traveled road by fusing raw measurement data and sensor measurements of the identified roadside objects, wherein the position of the vehicle is represented as a function of linearizing raw measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively; updating the position of the vehicle in a vehicle positioning system utilizing the determined position of the vehicle.