METHOD AND SYSTEM FOR DETERMINING A POSITION RELATIVE TO A DIGITAL MAP

• US 20170052032A1
• Filed: 04/30/2015
• Published: 02/23/2017
• Est. Priority Date: 04/30/2014
• Status: Active Grant

• Current Assignee: Tomtom Global Content B.V (TomTom NV)
• Original Assignee: Tomtom Global Content B.V (TomTom NV)
• Inventors: Kubiak, Blazej, Miksa, Krzysztof, Gliszczynski, Rafal Jan
• Granted Patent: US 10,240,934 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/50 Depth or shape recovery

Abstract

A method of determining a longitudinal position of a vehicle (100) relative to a digital map is disclosed in which real time scan data (200, 202) is determined by scanning a lateral environment around the vehicle using at least one range-finder sensor, said real time scan data comprising one or more depth maps, each depth map representing the measured lateral distance to surfaces in the lateral environment for a plurality of longitudinal positions and elevations. Localisation reference data associated with the digital map for a deemed current longitudinal position of the vehicle (100) in relation to the digital map is retrieved, and compared to the real time scan data (200, 202) by calculating a cross-correlation to determine a longitudinal offset. The deemed current longitudinal position is adjusted based on said longitudinal offset to determine the longitudinal position of the vehicle (100) relative to the digital map.

Claims

1. A method of determining a longitudinal position of a vehicle relative to a digital map, the digital map comprising data representative of navigable elements of a navigable network along which the vehicle is travelling, the method comprising:

determining real time scan data by scanning a lateral environment around the vehicle using at least one range-finder sensor, said real time scan data comprising one or more depth maps, each depth map representing the measured lateral distance to surfaces in the lateral environment for a plurality of longitudinal positions and elevations;

retrieving localisation reference data associated with the digital map for a deemed current longitudinal position of the vehicle in relation to the digital map, wherein the localisation reference data comprises one or more depth maps, each depth map representing the lateral distance to surfaces in the lateral environment for a plurality of longitudinal positions and elevations;

comparing the real time scan data to the localisation reference data by calculating a cross-correlation to determine a longitudinal offset between the real time scan data and the localisation reference data; and

adjusting the deemed current longitudinal position based on said longitudinal offset to determine the longitudinal position of the vehicle relative to the digital map.

2. The method as claimed in claim 1, wherein the real time scan data is obtained by scanning the lateral environment on both on a left side of the vehicle and a right side of the vehicle so as to determine a depth map for the left side of the vehicle and a depth map for the right side of the vehicle that are combined into a composite image.

3. The method as claimed in claim 1, wherein the localisation reference data comprises a depth map representing the lateral distance to surfaces in the lateral environment on the left of the vehicle for a plurality of longitudinal positions and elevations and a depth map representing the lateral distance to surfaces in the lateral environment on the right of the vehicle for a plurality of longitudinal positions and elevations.

4. The method as claimed in claim 3, wherein the depth map representing the lateral distance to surfaces in the lateral environment on the left of the vehicle for a plurality of longitudinal positions and elevations and the depth map representing the lateral distance to surfaces in the lateral environment on the right of the vehicle for a plurality of longitudinal positions and elevations are combined into a composite image.

5. The method as claimed in claim 4, wherein the real time scan data is obtained by scanning the lateral environment on both on a left side of the vehicle and a right side of the vehicle so as to determine a depth map for the left side of the vehicle and a depth map for the right side of the vehicle that are combined into a composite image, and the cross-correlation is calculated between the composite image of the real time scan data and the image of the localisation reference data.

6. The method as claimed in claim 1, wherein the one or more depth maps of the localisation reference data are stored as compressed images.

7. The method as claimed in claim 1, wherein the one or more depth maps of the localisation reference data are stored as greyscale images.

8. The method as claimed in claim 1, wherein the comparison of the real time scan data to the localisation reference data is performed using real time scan data obtained during a window of a predetermined longitudinal distance.

9. The method as claimed in claim 8, wherein the comparison is performed periodically for overlapping windows.

10. The method as claimed in claim 1, wherein the range-finder sensor comprises one or more of:

a laser scanner;

a radar scanner; and

a pair of stereo cameras.

11. The method as claimed in claim 1, wherein the localisation reference data is stored locally in a memory of the vehicle.

12. A device for determining a longitudinal position of a vehicle relative to a digital map, the digital map comprising data representative of navigable elements of a navigable network along which the vehicle is travelling, the device comprising at least one processor and a memory with computer readable instructions executable by the at least one processor to cause the device to:

determine real time scan data by scanning a lateral environment around the vehicle using at least one range-finder sensor, said real time scan data comprising one or more depth maps, each depth map representing the measured lateral distance to surfaces in the lateral environment for a plurality of longitudinal positions and elevations;

retrieve localisation reference data associated with the digital map for a deemed current longitudinal position of the vehicle in relation to the digital map, wherein the localisation reference data comprises one or more depth maps, each depth map representing the lateral distance to surfaces in the lateral environment for a plurality of longitudinal positions and elevations;

compare the real time scan data to the localisation reference data by calculating a cross-correlation to determine a longitudinal offset between the real time scan data and the localisation reference data; and

adjust the deemed current longitudinal position based on said longitudinal offset to determine the longitudinal position of the vehicle relative to the digital map.

14. A non-transitory computer readable medium comprising computer readable instructions which, when executed by at least one processor of a device, cause the device to perform the method according to claim 12.

13. (canceled)