Method and system for determining a position of a vehicle

• US 9,644,975 B2
• Filed: 03/04/2015
• Issued: 05/09/2017
• Est. Priority Date: 03/11/2014
• Status: Active Grant

• Current Assignee: Polestar Performance AB (Polestar Automotive Holding UK Plc)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Stenborg, Erik, Sorstedt, Joakim
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/638,949
• Publication Number:
  US 20150260530A1
• Time in Patent Office: 797 Days
• 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: 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: G01S 19/13 Receivers
• 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 method performed by a positioning system of a vehicle is disclosed for determining a position of the vehicle along a road including one or several road markings arranged on a surface of the road. The positioning system detects road markings, matches detected road markings with mapped road markings of stored map data based on comparing characteristics of the detected road markings with mapped characteristics of the mapped road markings. The positioning system furthermore identifies a mapped identified road marking determined to correspond with a detected identified road marking, and determines a positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking. A positioning system, a vehicle including such a positioning system, and a mapping unit and a mapping method performed therein for creating map data to be utilized by the above mentioned positioning system are also disclosed.

Claims

1. A method performed by a positioning system of a vehicle for determining a longitudinal position of the vehicle along a road, the road comprising one or more road markings arranged on a surface of the road, the method comprising:

detecting, by a sensor, a plurality of road markings;

matching, by a matching unit, road markings of the plurality of road markings with mapped road markings of stored map data based on comparing detected characteristics of the plurality of road markings with mapped characteristics of the mapped road markings, wherein the mapped characteristics comprise one or a combination of distances, intervals or relations between road markings;

identifying, by an identifying unit, a mapped identified road marking determined to correspond with a detected identified road marking of the plurality of road markings; and

determining, by a positioning determining unit, a longitudinal positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking.

2. The method according to claim 1, wherein:

the detecting the plurality of road makings is performed by a vision sensor unit comprising the sensor, the vision sensor unit comprised in the positioning system;

the matching road markings of the plurality of road markings is performed by the matching unit comprised in the positioning system;

the stored map data is stored on a storage unit comprised in the positioning system;

the identifying the mapped identified road marking is performed by the identifying unit comprised in the positioning system;

or

the determining the positioning estimate of the vehicle is performed by the positioning determining unit comprised in the positioning system.

3. The method according to claim 1 wherein determining a positioning estimate of the vehicle comprises estimating a relative distance from the detected identified road marking to the vehicle.

4. The method according to claim 1 wherein the stored map data is expressed based on global coordinates.

5. The method according to claim 1 wherein detecting a plurality of road markings comprises detecting a plurality of lane markings or center lines, which lane markings or center lines are intermittently arranged to form straight or curved intermittent lines along the road.

6. The method according to claim 1 wherein the characteristics of the road markings and/or the mapped characteristics of the mapped road markings comprise one or a combination of lengths, widths, curvatures or shapes of road markings, and distances, intervals or relations between road markings.

7. The method according to claim 1 wherein detecting a plurality of road markings comprises:

detecting a proximal end and/or a distal end of a road marking of the plurality of road markings; and

wherein the determining the positioning estimate of the vehicle comprises;

determining the positioning estimate of the vehicle based on a mapped proximal end position or a mapped distal end position associated with the mapped identified road marking.

8. The method according to claim 1 further comprising:

detecting at least one fixed object along the road;

matching the at least one fixed object with mapped fixed objects based on comparing detected characteristics of the at least one fixed object with mapped characteristics of the mapped fixed objects; and

identifying a mapped identified fixed object determined to correspond with a detected identified fixed object of the at least one fixed object;

wherein the determining furthermore comprises;

determining the positioning estimate of the vehicle additionally based on a mapped fixed object position associated with the mapped identified fixed object.

9. The method according to claim 8 wherein:

the detecting at least one fixed object is performed by the sensor;

the matching the at least one fixed object is performed by the matching unit;

or

the identifying the mapped identified fixed object is performed by the identifying unit.

10. The method according to claim 8, wherein the detecting a plurality of road markings or the detecting at least one fixed object comprises detecting by at least one camera.

11. A positioning system for determining a longitudinal position of a vehicle along a road, which road comprises one or several road markings arranged on a surface of the road, the positioning system comprising:

a vision sensor unit adapted for detecting a plurality of road markings;

a matching unit adapted for matching road markings of the plurality of road markings with mapped road markings of stored map data stored on a storage unit of the positioning system, based on comparing detected characteristics of the plurality of road markings with mapped characteristics of the mapped road markings, wherein the mapped characteristics comprise one or a combination of distances, intervals or relations between road markings;

an identifying unit adapted for identifying a mapped identified road marking determined to correspond with a detected identified road marking of the plurality; and

a positioning determining unit adapted for determining a longitudinal positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking.

12. The positioning system according to claim 11 further comprising a vehicle adapted to host the positioning system.

13. A method performed by a mapping unit for creating map data reflecting characteristics associated with a road, for enabling a positioning system of a vehicle to determine a position of the vehicle along the road, the method comprising:

creating the map data by obtaining characteristics associated with the road, the characteristics associated with the road comprising characteristics of one or several road markings arranged on a road surface of the road, wherein the characteristics comprise one or a combination of distances, intervals or relations between road markings, to thereby enable a method performed by a positioning system of a vehicle for determining a longitudinal position of the vehicle along a road, the road comprising one or more road markings arranged on a surface of the road, the method including

detecting, by a sensor, a plurality of road markings;

matching, by a matching unit, road markings of the plurality of road markings with mapped road markings of stored map data based on comparing detected characteristics of the plurality of road markings with mapped characteristics of the mapped road markings, wherein the mapped characteristics comprise one or a combination of distances, intervals or relations between road markings;

identifying, by an identifying unit, a mapped identified road marking determined to correspond with a detected identified road marking of the plurality of road markings; and

determining, by a positioning determining unit, a longitudinal positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking.

14. A mapping unit for creating map data reflecting characteristics associated with a road, for enabling a positioning system of a vehicle to determine a position of the vehicle along the road, the mapping unit being adapted to:

create the map data by obtaining characteristics associated with the road, the characteristics associated with the road comprising characteristics of one or several road markings arranged on a road surface of the road, wherein the characteristics comprise one or a combination of distances, intervals or relations between road markings, to thereby enable a positioning system for determining a longitudinal position of the vehicle along a road, which road comprises one or several road markings arranged on a surface of the road, the positioning system including

a vision sensor unit adapted for detecting a plurality of road markings;

a matching unit adapted for matching road markings of the plurality of road markings with mapped road markings of stored map data stored on a storage unit of the positioning system, based on comparing detected characteristics of the plurality of road markings with mapped characteristics of the mapped road markings, wherein the mapped characteristics comprise one or a combination of distances, intervals or relations between road markings;

an identifying unit adapted for identifying a mapped identified road marking determined to correspond with a detected identified road marking of the plurality; and

a positioning determining unit adapted for determining a longitudinal positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking.

15. A method performed by a positioning system of a vehicle for determining a longitudinal position of the vehicle along a road, the road comprising one or more road markings arranged on a surface of the road, the method comprising:

detecting, by a sensor, one or more road markings;

matching, by a matching unit, at least one of the one or more road markings with at least one mapped road marking of stored map data based on comparing at least one detected characteristic of the one or more road markings with at least one mapped characteristic of the at least one mapped road marking, wherein the mapped characteristics comprise one or a combination of distances, intervals or relations between road markings;

identifying, by an identifying unit, a mapped identified road marking determined to correspond with a detected identified road marking of the one or more road markings; and

determining, by a positioning determining unit, a longitudinal positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking.