System and method for measuring the accuracy of an electronic map or a localization of a vehicle

A method for measuring an accuracy of a localization of a vehicle, the method comprising the steps of:

• obtaining sensor data captured by a sensor mounted to a vehicle on a road and location data from a global navigation satellite system (GNSS), wherein the sensor data includes trajectory data regarding a trajectory of the vehicle and the location data includes trajectory points of the vehicle;
• determining initial location values of lane markers based on the sensor data;
• offsetting the initial locations of the lane markers by offset values to generate actual location values, the offset values representing a difference between the vehicle and the lane markers;
• determining direction values of the actual location values by taking a direction derivative of the actual location values;
• determining ground truth curvature values by taking a derivative of the direction values;
• obtaining map trajectory points of the road from an electronic map;
• determining a curve function by performing a curve fitting of the map trajectory points of the road;
• determining curvature values of the curve function;
• and
• comparing the curvature values of the curve function to the ground truth curvature values to generate a difference output, wherein the difference output indicates the accuracy of the localization of the vehicle.

A system for measuring an accuracy of an electronic map or a localization of a vehicle, the system comprising:

• one or more processors;
• and
• a memory in communication with the one or more processors, the memory having:
• an image capture module having instructions that when executed by the one or more processors cause the one or more processors to obtain sensor data captured by a sensor mounted to a vehicle and location data of the vehicle, wherein the sensor data includes one or more images of one or more road lane markings of a road,
• a ground truth generating module having instructions that when executed by the one or more processors cause the one or more processors to determine ground truth curvature values based on the road lane markings from the one or more images of the sensor data and the location data,
• a curve function generating module having instructions that when executed by the one or more processors cause the one or more processors to determine a curve function by performing a curve fitting of map lane marking points,
• the curve function generating module having instructions that when executed by the one or more processors cause the one or more processors to determine curvature values of the curve function, and
• an accuracy determining module having instructions that when executed by the one or more processors cause the one or more processors to compare the curvature values of the curve function to the ground truth curvature values to generate a difference output, wherein the difference output indicates the accuracy of at least one of:
• the electronic map and the localization of the vehicle.