公开(公告)号：US20150378015A1

公开(公告)日：2015-12-31

申请号：US14525141

申请日：2014-10-27

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Byung Yong YOU ,  Myung Seon Heo ,  Young Chul Oh

IPC: G01S13/06 ,  G01S19/13 ,  G01S13/86

CPC classification number: G01S13/06 ,  G01S13/867 ,  G01S19/48

Abstract: An apparatus for a self localization of a vehicle includes a sensor unit, a landmark detector, a landmark recognizer, and a location estimator. The sensor includes at least two sensors and is configured to measure information on environment around the vehicle using each of the at least two sensors. The landmark detector is configured to detect landmark information based on data measured by each sensor. The landmark recognizer is configured to selectively combine landmark information detected based on data measurement of at least one of the at least two sensors to recognize a landmark and reflect fused landmark information to update a probability distribution. The location estimator is configured to use the probability distribution updated by the landmark recognizer to estimate a self location of the vehicle.

Abstract translation: 用于车辆自定位的装置包括传感器单元，地标检测器，地标识别器和位置估计器。 所述传感器包括至少两个传感器，并且被配置为使用所述至少两个传感器中的每一个来测量关于所述车辆周围的环境的信息。 地标检测器被配置为基于由每个传感器测量的数据来检测地标信息。 地标识别器被配置为选择性地组合基于至少两个传感器中的至少一个传感器的数据测量而检测的地标信息，以识别地标并反映融合的地标信息以更新概率分布。 位置估计器被配置为使用由地标识别器更新的概率分布来估计车辆的自身位置。