Vehicle position estimation system

• US 9,151,626 B1
• Filed: 04/11/2014
• Issued: 10/06/2015
• Est. Priority Date: 04/11/2014
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan North America Incorporated (Nissan Motor Co., Ltd.)
• Inventors: Kojo, Naoki
• Primary Examiner(s): Jeanglaude, Gertrude Arthur
• Application Number:
  US14/251,015
• Publication Number:
  US 20150292891A1
• Time in Patent Office: 543 Days
• Field of Search: 701/400, 701/411, 701/428, 701/523, 701/446, 340/988, 340/995.1
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G01C 21/3647 Guidance involving output of stored or live camera images or video streams
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 2201/0213 Road vehicle, e.g. car or truck
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A system for determining a position of a vehicle includes a camera, a marker, a storage device, an external parameter system, and a controller. The camera is configured to capture an image of an area adjacent the vehicle, the image including an edge. The marker detection device is configured to detect a marker in the area adjacent the vehicle. The storage device is configured to store map data, the stored map data including edge data. The positioning system is configured to determine the location of the vehicle relative to the stored map data. The controller is configured to combine the marker detected by the marker detection device and the edge in the image captured by the camera, and compare the combined marker detected by the marker detection device and the edge in the image captured by the camera to the stored map data.

Claims

1. A system for determining a position of a vehicle, comprising:

a camera configured to capture an image of an area adjacent the vehicle, the image including an edge;

a marker detection device configured to detect a marker in the area adjacent the vehicle;

a storage device configured to store map data, the stored map data including edge data;

a positioning system configured to determine the location of the vehicle relative to the stored map data, and

a controller configured to combine the marker detected by the marker detection device and the edge in the image captured by the camera, and compare the combined marker detected by the marker detection device and the edge in the image captured by the camera to the stored map data.

2. The system according claim 1, wherein

the controller is configured to estimate a position of the vehicle relative to the stored map data based on the comparison between the combined marker detected by the marker detection device and the edge in the image captured by the camera to the stored map data.

3. The system according claim 1, wherein

the image captured by the camera includes an array of pixels, and the controller is configured to generate an image using the stored map data that corresponds to the image captured by the camera, and compare each of the pixels in the array of pixels to the image generated by the controller.

4. The system according claim 3, wherein

the controller is configured to add value to a pixel in the array of pixels that corresponds to the marker when the pixel that corresponds to the marker matches an edge in the image generated by the controller.

5. The system according claim 4, wherein

the marker is a stop line.

6. The system according claim 4, wherein

the marker is a crosswalk.

7. The system according claim 4, wherein

the marker is a an edge of a road.

8. The system according claim 4, wherein

the marker is a traffic light.

9. The system according claim 4, wherein

the marker is a line identifying a lane.

10. The system according claim 5, wherein

the marker is one of a first marker and a second marker, the first marker being the stop line, the second marker being the line identifying the lane, and the controller is configured to add more value to the pixel in the array of pixels that corresponds to the first marker than the second marker.

11. The system according claim 1, wherein

the positioning system includes a global positioning system.

12. The system according claim 1, wherein

the positioning system includes a plurality of sensors.

13. The system according claim 1, wherein

the marker detection device includes lane detection software in a lane departure device.

14. A system for determining a position of a vehicle, comprising:

a camera configured to capture an image of an area adjacent the vehicle, the image including an edge and an array of pixels;

a marker detection device configured to detect a marker in the area adjacent the vehicle;

a storage device configured to store map data, the stored map data including edge data;

a positioning system configured to determine the location of the vehicle relative to the stored map data, and

a controller configured to combine the marker detected by the marker detection device and the edge in the image captured by the camera, and compare the combined marker detected by the marker detection device and the edge in the image captured by the camera to the stored map data, to generate an image using the stored map data that corresponds to the image captured by the camera, compare each of the pixels in the array of pixels to the image generated by the controller, and

to add value to a first pixel in the array of pixels that corresponds to the edge when the first pixel that corresponds to the edge matches an edge in the image generated by the controller, such that first pixel is weighted more than a second pixel in the array of pixels in prediction estimation of the position of the vehicle.

15. The system according claim 14, wherein

the edge is one of an edge of a road and a line identifying a lane.

16. A method for determining a position of a vehicle, the method comprising:

capturing an image of an area adjacent the vehicle, the image including an edge;

detecting a marker in the area adjacent the vehicle;

reading stored map data, the stored map data including edge data;

determining the location of the vehicle relative to the stored map data;

combining the detected marker and the edge in the image; and

comparing the combined detected marker and the edge in the image captured by the camera to the stored map data.

17. The method according claim 16, further comprising

estimating a position of the vehicle relative to the stored map data based on the comparison between the combined detected marker and the edge in the image to the stored map data.

18. The method according claim 16, wherein

the image includes an array of pixels, and generating an image using the stored map data that corresponds to the captured image, and comparing each of the pixels in the array of pixels to the generated image.

19. The method according claim 18, further comprising

adding value to a pixel in the array of pixels that corresponds to the marker when the pixel that corresponds to a marker matches an edge in the generated image.

20. The system according claim 18, wherein

adding value to a pixel in the array of pixels that corresponds to the edge when the pixel that corresponds to the edge matches an edge in the generated image.