Apparatus and method for estimating initial position of vehicle
A camera-based method estimates a vehicle's initial position by generating a local map from image data and correlating it with a global map, addressing GPS instability for accurate positioning.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- 42DOT INC
- Filing Date
- 2025-12-24
- Publication Date
- 2026-07-02
AI Technical Summary
Existing vehicle positioning systems, such as GPS, are unreliable in environments where signals are unstable, such as tunnels or indoor parking lots, leading to inaccurate or unavailable location data.
A method and device using a camera sensor to acquire image data, generate a local map, and estimate the vehicle's initial position by correlating it with a global map, even when GPS signals are unavailable, utilizing lane information and vehicle motion data for high-accuracy positioning.
Enables accurate estimation of a vehicle's initial position in GPS-unstable environments by leveraging image data and map correlation, ensuring precise location determination.
Smart Images
Figure KR2025022805_02072026_PF_FP_ABST
Abstract
Description
Device and method for estimating the initial position of a vehicle
[0001] The present disclosure relates to an apparatus and method for estimating the initial position of a vehicle.
[0002] A technique for estimating the initial position of a vehicle can be used to determine the position of a vehicle in situations where a positioning system, such as a global positioning system (GPS), is initialized or when a signal (e.g., GPS signal) is lost. For example, the technique can be used to determine the position of a vehicle (e.g., global position) in environments where GPS signals are unstable, such as tunnels or indoor parking lots.
[0003] The information described above may be provided as related art for the purpose of aiding understanding of the present disclosure. No claim or determination is made as to whether any of the foregoing may be applied as prior art related to the present disclosure.
[0004] One embodiment can provide a method for rapidly estimating the initial position (or current position) of a vehicle in an environment where GPS signals are unstable.
[0005] One embodiment can provide a method for estimating the initial position of a vehicle with high accuracy using a lightweight map.
[0006] The technical tasks intended to be accomplished in this document are not limited to those mentioned above, and other technical tasks not mentioned will be clearly understood by those skilled in the art to which this document belongs from the description below.
[0007] A device for determining the initial position of a vehicle according to one embodiment may include at least one processor and a memory for storing instructions. The instructions may cause the device to perform a plurality of operations based on being executed individually or collectively by the at least one processor. The plurality of operations may include an operation of acquiring a first map containing information about lanes within a predetermined area. The plurality of operations may include an operation of acquiring a second map containing information about the shape of the road traveled by the vehicle during a time interval based on image data acquired through a camera sensor mounted on the vehicle during a time interval in which the vehicle traveled in a part of the predetermined area. The plurality of operations may include an operation of estimating the initial position of the vehicle within the predetermined area based on the correspondence between the first map and the second map.
[0008] The operation of acquiring the second map above may be initiated based on the fact that the current location of the vehicle is not identified by the navigation system of the vehicle.
[0009] The starting point of the above time interval may be located after the point in time when the current location of the vehicle is not identified by the vehicle's navigation system.
[0010] The above image data may include a plurality of image frames, including lane images of a portion of the area where the vehicle traveled during the above time interval.
[0011] Information regarding the shape of the road on which the vehicle traveled during the above time interval may include information regarding the shape of the lane on which the vehicle traveled during the above time interval.
[0012] The operation of acquiring the second map may include an operation of extracting lane information from the image data. The operation of acquiring the second map may include an operation of acquiring information on the change in the position of the vehicle during the time interval based on the speed data and angular velocity data of the vehicle acquired during the time interval. The operation of acquiring the second map may include an operation of generating the second map based on the fusion between the lane information and the information on the change in the position of the vehicle during the time interval.
[0013] The first map above can provide information on the three-dimensional shapes of lanes and road boundaries within the predetermined area.
[0014] The first map above can provide information on the three-dimensional shape of the lane of the road on which the vehicle traveled during the time interval.
[0015] The first map above may further include information regarding road boundaries and stop lines within the predetermined area.
[0016] A method for determining the initial position of a vehicle according to one embodiment may include the operation of acquiring a first map containing information about lanes within a predetermined area. The method may include the operation of acquiring a second map containing information about the shape of the road traveled by the vehicle during a time interval based on image data acquired through a camera sensor mounted on the vehicle during a time interval in which the vehicle traveled in a specific area within the predetermined area. The method may include the operation of estimating the initial position of the vehicle within the predetermined area based on the correspondence between the first map and the second map.
[0017] The operation of acquiring the second map above may be initiated based on the fact that the current location of the vehicle is not identified by the navigation system of the vehicle.
[0018] The starting point of the above time interval may be located after the point in time when the current location of the vehicle is not identified by the vehicle's navigation system.
[0019] The above image data may include a plurality of image frames, including lane images of a portion of the area where the vehicle traveled during the above time interval.
[0020] Information regarding the shape of the road on which the vehicle traveled during the above time interval may include information regarding the shape of the lane on which the vehicle traveled during the above time interval.
[0021] The operation of acquiring the second map may include an operation of extracting lane information from the image data. The operation of acquiring the second map may include an operation of acquiring information on the change in the position of the vehicle during the time interval based on the speed data and angular velocity data of the vehicle acquired during the time interval. The operation of acquiring the second map may include an operation of generating the second map based on the fusion between the lane information and the information on the change in the position of the vehicle during the time interval.
[0022] The first map above can provide information on the three-dimensional shapes of lanes and road boundaries within the predetermined area.
[0023] The first map above can provide information on the three-dimensional shape of the lane of the road on which the vehicle traveled during the time interval.
[0024] The first map above may further include information regarding road boundaries and stop lines within the predetermined area.
[0025] FIG. 1 is a diagram illustrating an environment in which a method for estimating the initial position of a vehicle according to one embodiment is used.
[0026] FIG. 2 is a diagram illustrating input data and output data of an electronic device according to one embodiment.
[0027] FIG. 3 is a diagram illustrating a global map according to one embodiment.
[0028] FIG. 4 is a drawing for illustrating a local map according to one embodiment.
[0029] FIG. 5 is a flowchart illustrating a method for estimating the initial position of a vehicle according to one embodiment.
[0030] FIG. 6 is a flowchart illustrating a method for generating a local map according to one embodiment.
[0031] FIG. 7 is a schematic block diagram of an electronic device according to one embodiment.
[0032] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, actual implementations are not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or substitutions included in the technical concept described by the embodiments.
[0033] Terms such as "first" or "second" may be used to describe various components, but these terms should be interpreted solely for the purpose of distinguishing one component from another. For example, the first component may be named the second component, and similarly, the second component may be named the first component.
[0034] When it is stated that a component is "connected" to another component, it should be understood that it may be directly connected to or joined to that other component, or that there may be other components in between.
[0035] Singular expressions include plural expressions unless the context clearly indicates otherwise. In this document, phrases such as “A or B,” “at least one of A and B,” “at least one of A or B,” “A, B or C,” “at least one of A, B and C,” and “at least one of A, B, or C” may each include any one of the items listed together with the corresponding phrase, or all possible combinations thereof. In this specification, terms such as “comprising” or “having” are intended to designate the existence of the described feature, number, step, action, component, part, or combination thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.
[0036] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.
[0037] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments of the present disclosure may be referenced, borrowed, or combined with one another. In the description with reference to the accompanying drawings, identical components are given the same reference numeral regardless of the drawing number, and redundant descriptions thereof will be omitted.
[0038]
[0039] FIG. 1 is a diagram illustrating an environment in which a method for estimating the initial position of a vehicle according to one embodiment is used.
[0040] Referring to FIG. 1, according to one embodiment, a vehicle (10) (e.g., an autonomous vehicle) can track the location of the vehicle (10) in real time. The vehicle (10) can use GPS signals for location tracking.
[0041] According to one embodiment, when the vehicle (10) cannot track the location of the vehicle (10) based on GPS signals, the initial location (or current location) of the vehicle (10) can be determined based on image data obtained through a camera sensor mounted on the vehicle (10). In one example, if the location of the vehicle (10) determined based on the vehicle's GPS signals is inaccurate, image data obtained through a camera sensor mounted on the vehicle (10) can be used to correct the location of the vehicle (10) determined based on GPS signals. For example, when the vehicle (10) is located in a space where it is difficult to receive GPS signals, such as a tunnel or an indoor parking lot, or when the vehicle (10) cannot reliably receive GPS signals due to signal interference, the initial location (e.g., global location) of the vehicle can be estimated using image data.
[0042]
[0043] FIG. 2 is a diagram illustrating input data and output data of an electronic device according to one embodiment.
[0044] Referring to FIG. 2, according to one embodiment, an electronic device (100) may be mounted on a vehicle (e.g., the vehicle (10) of FIG. 1). The electronic device (100) may determine initial location information (e.g., the coordinates of the vehicle on a global map) of the vehicle (e.g., the vehicle (10) of FIG. 1) based on image data. The image data may include a plurality of image frames acquired over a certain time interval. The plurality of image frames may be captured through at least one camera sensor mounted on the vehicle. Each of the plurality of image frames may include a lane image (e.g., pixels representing a lane) of the area where the vehicle has driven.
[0045] The electronic device (100) can generate a local map based on image data. The electronic device (100) can estimate the initial position of the vehicle based on the correspondence between the local map and the global map. The global map will be described in detail with reference to FIG. 3, and the local map will be described in detail with reference to FIG. 4.
[0046] In one example, the electronic device (100) may communicate with a server (120) to estimate the initial location information of a vehicle. For example, the electronic device (100) may transmit image data to the server (120) and receive the initial location information of the vehicle estimated by the server (120) from the server (120).
[0047] According to one embodiment, the electronic device (100) can estimate the initial position of a vehicle with high accuracy using image data, even when it is difficult to track the position of a vehicle based on GPS signals.
[0048]
[0049] FIG. 3 is a diagram illustrating a global map according to one embodiment.
[0050] Referring to FIG. 3, according to one embodiment, a global map (30) may include information about lanes within a specific region (e.g., city, province, or country) (e.g., two-dimensional shape of the lanes and / or three-dimensional shape of the lanes). In one example, the global map (30) may further include information about at least one of road boundaries and stop lines within the region.
[0051] The global map (30) can be generated based on previously collected data. The global map (30) can be stored in the memory of an electronic device (e.g., the electronic device (100) of FIG. 2).
[0052]
[0053] FIG. 4 is a drawing for illustrating a local map according to one embodiment.
[0054] Referring to FIG. 4, according to one embodiment, to generate a local map (40), image data (e.g., a plurality of image frames) obtained through at least one camera sensor mounted on a vehicle (e.g., the vehicle (10) of FIG. 1) may be used.
[0055] An electronic device (e.g., the electronic device (100) of FIG. 2) can generate a local map (40) based on image data, which includes information about the shape of the road that the vehicle traveled on during the time interval in which the image data was acquired (e.g., the two-dimensional shape of the road lane or the three-dimensional shape of the road lane). For example, if image data is acquired from 12:50 to 12:51, the electronic device can generate a local map (40) that provides information about the shape of the road that the vehicle traveled on from 12:50 to 12:51.
[0056]
[0057] FIG. 5 is a flowchart illustrating a method for estimating the initial position of a vehicle according to one embodiment.
[0058] Referring to FIG. 5, an electronic device (e.g., the electronic device (100) of FIG. 2) can estimate the initial position (e.g., global position) of a vehicle (e.g., the vehicle (10) of FIG. 1) equipped with the electronic device based on the correspondence between a global map (e.g., the global map (30) of FIG. 3) and a local map (e.g., the local map (40) of FIG. 4). Operations 510 to 530 may be performed sequentially, but are not limited thereto. For example, operations 510 and 520 may be performed in parallel.
[0059] In operation 510, the electronic device can acquire a global map. For example, the electronic device can load a global map stored in the electronic device's memory.
[0060] In operation 520, the electronic device can generate a local map. To generate the local map, the electronic device can collect image data through at least one camera sensor mounted on the vehicle. The electronic device can initiate a process for generating the local map based on the fact that the vehicle's current location (e.g., global location) is not identified by the vehicle's navigation system (e.g., GPS system). The electronic device can acquire multiple image frames containing images of lanes around the vehicle (e.g., pixels representing lanes) through at least one camera sensor during a certain time interval. The starting point at which the electronic device initiates the collection of image data may be the same as, or after, the point in time when the vehicle's current location (e.g., global location) is not identified by the navigation system. A method for generating the local map will be described in detail with reference to FIG. 6.
[0061] In operation 530, the electronic device can estimate the initial position of the vehicle (e.g., global position) based on the correspondence between the global map and the local map. For example, the electronic device can search for an area (e.g., coordinates) corresponding to the shape of a lane included in the local map from the global map, and determine the searched area as the initial position of the vehicle.
[0062]
[0063] FIG. 6 is a flowchart illustrating a method for generating a local map according to one embodiment.
[0064] According to one embodiment of FIG. 6, an electronic device (e.g., the electronic device (100) of FIG. 2) can generate a local map based on a fusion process.
[0065] In operation 610, the electronic device can extract lane information from image data collected through at least one camera sensor mounted on a vehicle (e.g., vehicle (10) of FIG. 1). The electronic device can obtain lane information of the road on which the vehicle traveled during the time interval in which the image data was collected (e.g., the relative position of the lane to the vehicle).
[0066] In operation 620, the electronic device can generate information about the change in position of the vehicle during the time interval based on the vehicle's velocity data (e.g., linear velocity and / or angular velocity) and acceleration data (e.g., linear acceleration and / or angular acceleration) acquired during the time interval in which image data is collected. The velocity data and acceleration data may be acquired through at least one sensor (e.g., an inertial measurement unit (IMU) sensor) mounted on the vehicle.
[0067] In operation 630, the electronic device can generate a local map based on the fusion between lane information extracted in operation 610 and information on changes in the vehicle's position generated in operation 620.
[0068]
[0069] FIG. 7 is a schematic block diagram of an electronic device according to one embodiment.
[0070] Referring to FIG. 7, according to one embodiment, the electronic device (100) may include at least one processor (720) and memory (740).
[0071] The memory (740) may store instructions (or programs) executable by at least one processor (720). For example, the instructions may include instructions for executing the operation of at least one processor (720) and / or the operation of each configuration of at least one processor (720).
[0072] The memory (740) may include one or more computer-readable storage media. The memory (740) may include non-volatile storage devices (e.g., magnetic hard disc, optical disc, floppy disc, flash memory, EPROM (electrically programmable memories), EEPROM (electrically erasable and programmable)).
[0073] The memory (740) may be a non-transitory medium. The term "non-transitory" may indicate that the storage medium is not implemented by a carrier wave or a propagated signal. However, the term "non-transitory" should not be interpreted as meaning that the memory (740) is immobile.
[0074] At least one processor (720) can process data stored in memory (740). At least one processor (720) can execute computer-readable code (e.g., software) stored in memory (740) and instructions triggered by at least one processor (720).
[0075] At least one processor (720) may be a data processing device implemented in hardware having a circuit having a physical structure for executing desired operations. For example, the desired operations may include code or instructions included in a program.
[0076] For example, a data processing device implemented in hardware may include a microprocessor, a central processing unit, a processor core, a multi-core processor, a multiprocessor, an Application-Specific Integrated Circuit (ASIC), and a Field Programmable Gate Array (FPGA).
[0077] At least one processor (720) may include a main processor (e.g., a central processing unit or an application processor) and an auxiliary processor (e.g., a communication processor, a neural processing unit (NPU), and / or a graphic processing unit (GPU)).
[0078] At least one processor (720) can enable the electronic device (100) to perform at least one operation by individually or collectively executing code, instructions, and / or applications stored in memory (740).
[0079] The electronic device (100) may further include a communication module (760) as needed. The communication module (760) may establish a direct communication channel (e.g., a wired communication channel) or a wireless communication channel between the electronic device (100) and at least one external device (e.g., an external server (120) of FIG. 2) and support communication through the established communication channel.
[0080]
[0081] The embodiments described above may be implemented as hardware components, software components, and / or combinations of hardware and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. In addition, other processing configurations, such as parallel processors, are also possible.
[0082] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or instruct the processing unit independently or collectively. Software and / or data may be stored on any type of machine, component, physical device, virtual equipment, computer storage medium, or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and may be stored or executed in a distributed manner. Software and data may be stored on computer-readable recording media.
[0083] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program instructions, data files, data structures, etc., either individually or in combination, and the program instructions recorded on the medium may be those specifically designed and configured for the embodiment or those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.
[0084] The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.
[0085] Although the embodiments have been described above with reference to the limited drawings, those skilled in the art can apply various technical modifications and variations based thereon. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.
[0086] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.
Claims
1. In a device for determining the initial position of a vehicle, At least one processor; and memory that stores instructions Includes, When the above instructions are executed individually or collectively by the at least one processor, the device is made to perform a plurality of operations, and The above plurality of operations are, The operation of acquiring a first map containing information about lanes within a pre-determined area; The operation of generating a second map including information on the shape of the driving trajectory traveled by the vehicle during a time interval, based on image data acquired through a camera sensor mounted on the vehicle during a time interval in which the vehicle traveled in an area within the pre-determined region; and An operation to estimate the initial position of the vehicle within the predetermined area based on the correspondence between the first map and the second map. A device including 2. In Paragraph 1, The operation of generating the second map above is, A device disclosed based on the fact that the current location of the vehicle is not identified by the navigation system of the vehicle.
3. In Paragraph 2, The starting point of the above time interval is, A device located after a point in time when the current location of the vehicle is not identified by the navigation system of the vehicle temporarily.
4. In Paragraph 1, The above image data is, A plurality of image frames including lane images of a portion of the area where the vehicle traveled during the above time interval A device including 5. In Paragraph 1, Information regarding the shape of the road on which the vehicle traveled during the above time interval is, Information on the shape of the road lanes on which the vehicle traveled during the above time interval A device including 6. In Paragraph 1, The operation of generating the second map above is, The operation of extracting lane information from the above image data; and An operation to generate information regarding the change in position of the vehicle during the time interval based on acceleration data and velocity data of the vehicle acquired during the time interval; and An operation to generate the second map based on the fusion between the lane information and information regarding the change in the position of the vehicle during the time interval. A device including 7. In Paragraph 1, The above first map is, A device that provides information on the three-dimensional shape of lanes and the three-dimensional shape of road boundaries within the above-determined area.
8. In Paragraph 5, The above second map is, A device that provides information on the three-dimensional shape of the lane of the road on which the vehicle traveled during the above time interval.
9. In Paragraph 1, The above first map is, Information regarding road boundaries and stop lines within the above-mentioned pre-determined area A device that further includes 10. In a method for determining the initial position of a vehicle, The operation of acquiring a first map containing information about lanes within a predetermined area; The operation of generating a second map including information on the shape of the road traveled by the vehicle during a time interval based on image data acquired through a camera sensor mounted on the vehicle during a time interval in which the vehicle traveled in a certain area within the predetermined region; and An operation to estimate the initial position of the vehicle within the predetermined area based on the correspondence between the first map and the second map. A method including 11. In Paragraph 10, The operation of generating the second map above is, A method disclosed based on the fact that the current location of the vehicle is not identified by the navigation system of the vehicle.
12. In Paragraph 11, The starting point of the above time interval is, A method in which the current location of the vehicle is not identified by the navigation system of the vehicle in time, after the point in time after the point in time after the point in time after the current location of the vehicle is identified.
13. In Paragraph 10, The above image data is, A plurality of image frames including lane images of a portion of the area where the vehicle traveled during the above time interval A method including 14. In Paragraph 10, Information regarding the shape of the road on which the vehicle traveled during the above time interval is, Information on the shape of the road lanes on which the vehicle traveled during the above time interval A method including 15. In Paragraph 10, The operation of generating the second map above is, The operation of extracting lane information from the above image data; and An operation of obtaining information on the change in position of the vehicle during the time interval based on acceleration data and velocity data of the vehicle obtained during the time interval; and An operation to generate the second map based on the fusion between the lane information and information regarding the change in the position of the vehicle during the time interval. A method including 16. In Paragraph 10, The above first map is, A method for providing information on the three-dimensional shapes of lanes and road boundaries within the above-determined area.
17. In Paragraph 14, The above first map is, A method for providing information on the three-dimensional shape of the lane of the road on which the vehicle traveled during the above time interval.
18. In Paragraph 10, The above first map is, Information regarding road boundaries and stop lines within the aforementioned predetermined area A method that further includes.
19. A computer program stored on a computer-readable recording medium in combination with hardware to execute the method of any one of claims 10 through 18.