Telefonaktiebolaget Lm Ericsson (publ)

Zenseact Ab

Pontus Kielén

Tony Gustafsson

Junsheng Fu

Axel Beauvisage

Han Zhang

Joakim Lin Sörstedt

Andreas Schindler

Markus Hammarsten

Blazej Slusarek

Eduardo Sesma Caselles

Erik Steinmetz

Eiliv Hägg

A method performed by a vehicle pose assessment system for supporting determining a pose of a vehicle in view of a digital map. The approach provided by the method alleviates finding lane segments of the digital map corresponding to current sensor detections, which in turn may support accurate and/or improved vehicle localization. An apparatus and computer storage medium for supporting determining a pose of a vehicle in view of a digital map are also provided.

Vehicle pose assessment

The present disclosure relates to a method for determining a vehicle pose, predicting a pose (x, y, θ) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and predicted pose of the vehicle. The transformed set of map road references form a set of polylines in image-frame coordinate system. Identifying a set of corresponding image road reference features in an image acquired by vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (x, y) in image-frame. Projecting each of identified set of image road reference features onto formed set of polylines in order to obtain a set of projection points.

Vehicle localisation

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Mölndal, Sweden

Pontus Kielén