公开(公告)号：US20200217972A1

公开(公告)日：2020-07-09

申请号：US16726778

申请日：2019-12-24

Applicant: QUALCOMM Incorporated

Inventor： Muryong KIM ,  Tianheng WANG ,  Suraj SWAMI ,  Jubin JOSE

IPC: G01S19/53 ,  G05D1/02 ,  G06K9/00

Abstract: A method for vehicle positioning may include determining a first 6 degrees of freedom (6-DOF) pose of a vehicle, wherein the first 6-DOF pose may comprise a first altitude and one or more first rotational parameters indicative of a first orientation of the vehicle relative to a reference frame. A lane plane associated with a roadway being travelled by the vehicle may be determined based on the first 6-DOF pose and lane-boundary marker locations of lane-boundary markers on the roadway. For each lane-boundary marker, the corresponding lane-boundary marker location may be determined from a map, which may be based on the reference frame. A corrected altitude of the vehicle may then be determined based on the lane plane. A corrected 6-DOF pose of the vehicle may be determined based on the corrected altitude of the vehicle, the first 6-DOF pose, and an axis normal to the lane plane.