Vehicle localization system and vehicle localization method
AssigneeDenso Corporation
InventorsKojiro TATEISHI, Naoki KAWASAKI, Shunsuke SUZUKI, Hiroshi MIZUNO
Life of this patent
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Abstract
A vehicle localization system is provided which localizes a system-equipped vehicle. The vehicle localization system determines a position of the system-equipped vehicle on a map using a map matching technique. The vehicle localization system also calculates a variation in arrangement of feature points (e.g., edge points) of a roadside object around the system-equipped vehicle in a captured image and corrects the calculated position of the system-equipped vehicle on the map using the variation in arrangement of the feature points. This ensures a required accuracy in localizing the system-equipped vehicle.
Claims8
A vehicle localization system which works to localize on a road a system-equipped vehicle in which this system is mounted comprising:
- a vehicle position calculator which calculates a vehicle position that is a position of the system-equipped vehicle on a map using a map-matching technique;
- a feature detector which detects a given roadside object existing around the system-equipped vehicle and produces an output indicative thereof;
- a feature extractor which analyzes the output from the feature detector to extract feature points of the roadside object which are arranged in a lengthwise direction of the road;
- a variation calculator which calculates a variation in arrangement of the feature points in a lateral direction of the system-equipped vehicle;
- and
- a corrector which corrects the vehicle position, as calculated by the vehicle position calculator, based on the variation, as calculated by the variation calculator.
A vehicle localization method which localizes on a road a system-equipped vehicle in which this system is mounted comprising:
- a vehicle position calculating step of calculating a vehicle position that is a position of the system-equipped vehicle on a map using a map-matching technique;
- a feature detecting step of detecting a roadside object existing around the system-equipped vehicle and produces an output indicative thereof;
- a feature extracting step of analyzing the output from the feature detector to extract feature points of the roadside object which are arranged in a lengthwise direction of the road;
- a variation calculating step of calculating a variation in arrangement of the feature points in a lateral direction of the system-equipped vehicle;
- and
- a correcting step of correcting the vehicle position, as calculated by the vehicle position calculator, based on the variation, as calculated by the variation calculator.
Dependencies are inferred from the claim text.