Vehicle localization

A vehicle localization method implemented in a computer system, the method comprising:

• receiving a predetermined road map;
• receiving at least one road image for determining a vehicle location;
• processing, by a road detection component, the at least one road image, to identify therein road structure for matching with corresponding structure of the predetermined road map, and determine the vehicle location relative to the identified road structure;
• and
• using the determined vehicle location relative to the identified road structure to determine a vehicle location on the road map, by matching the road structure identified in the at least one road image with the corresponding road structure of the predetermined road map;
• wherein the road structure identified in the at least one road image comprises:
• a centre line for matching with a corresponding centre line of the road map, wherein determining the vehicle location relative thereto comprises determining a lateral separation between the vehicle and the centre line in a direction perpendicular to the centre line;
• and/or
• a junction region for matching with a corresponding junction region of the predetermined road map, wherein determining the vehicle location relative thereto comprises determining a longitudinal separation between the vehicle and the junction region in a direction along a road being travelled by the vehicle.

A computer system, comprising:

• a map input configured to receive a predetermined road map;
• an image input configured to receive at least one road image for determining a vehicle location;
• and one or more hardware processors configured to:
• process the at least one road image, to identify therein road structure for matching with corresponding structure of the predetermined road map, and determine the vehicle location relative to the identified road structure;
• and
• use the determined vehicle location relative to the identified road structure to determine a vehicle location on the road map, by matching the road structure identified in the at least one road image with the corresponding road structure of the predetermined road map;
• wherein the road structure identified in the at least one road image comprises:
• a centre line for matching with a corresponding centre line of the road map, wherein determining the vehicle location relative thereto comprises determining a lateral separation between the vehicle and the centre line in a direction perpendicular to the centre line;
• and/or
• a junction region for matching with a corresponding region of the predetermined road map, wherein determining the vehicle location relative thereto comprises determining a separation between the vehicle and the junction region in a direction along a road being travelled by the vehicle.

A computer program comprising executable instructions stored on a non-transitory computer-readable storage medium and configured, when executed on one or more processors, to implement operations comprising:

• receiving a predetermined road map;
• receiving at least one road image for determining a vehicle location;
• processing, by a road detection component, the at least one road image, to identify therein road structure for matching with corresponding structure of the predetermined road map, and determine the vehicle location relative to the identified road structure;
• and
• using the determined vehicle location relative to the identified road structure to determine a vehicle location on the road map, by matching the road structure identified in the at least one road image with the corresponding road structure of the predetermined road map;
• wherein the road structure identified in the at least one road image comprises:
• a centre line for matching with a corresponding centre line of the road map, wherein determining the vehicle location relative thereto comprises determining a lateral separation between the vehicle and the centre line in a direction perpendicular to the centre line;
• and/or
• a junction region for matching with a corresponding junction region of the predetermined road map, wherein determining the vehicle location relative thereto comprises determining a longitudinal separation between the vehicle and the junction region in a direction along a road being travelled by the vehicle.