Vehicle Localization Using Dynamic Acceptance Ranges
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Solution Overview
Problem
Current navigation systems face challenges in accurately determining a vehicle's position, especially in dynamic driving situations like intersections and turns, due to errors in image-based localization, which can lead to degraded accuracy and faulty position estimation.
Innovation Solution
A processor-implemented method that determines a first reference position using position sensors and a second reference position from camera image information, sets an acceptance range based on driving situations, and estimates the vehicle's current position by comparing the error level of the second reference position to this range, excluding faulty positions and using a weighted sum of reference positions for accurate estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If image-based localization is used to determine vehicle position, then positioning coverage is improved, but measurement precision deteriorates due to errors in dynamic driving situations
Solution Approach 1:
The patent introduces an acceptance range as an intermediary criterion to evaluate the reliability of image-based position information. By comparing the calculated position against this intermediate acceptance criterion, the system determines whether to trust the image-based localization result, thus resolving the contradiction between coverage and precision
Solution Approach 2:
The patent dynamically adjusts the acceptance range parameters based on driving situations (e.g., wider ranges for turns, narrower for intersections). This parameter adaptation allows the system to maintain measurement precision across different scenarios while preserving the adaptability benefits of image-based localization
2Reliability
If acceptance range is widened to accommodate dynamic driving situations, then reliability of position estimation is improved, but measurement precision deteriorates
Solution Approach 1:
The patent makes the acceptance range dynamic by adjusting its width based on the detected driving situation. The system transitions from a static acceptance criterion to a dynamic one that adapts to contextual factors, thereby maintaining reliability without permanently sacrificing precision
3Adaptability or versatility
If image-based position information is always used, then positioning coverage is improved, but reliability deteriorates due to faulty position estimates
Solution Approach 1:
The patent implements a feedback mechanism where the system continuously evaluates image-based position information against the acceptance range and selectively accepts or rejects results. This feedback loop ensures that only reliable position estimates are used, maintaining both coverage and reliability
Data Source
AI summary
Disclosed is a method and apparatus with localization. The method includes determining a sensor-based reference position using a position sensor of the vehicle, determining an image-based reference position of the vehicle based on image information of the vehicle captured using a camera of the vehicle, setting an acceptance range for the image-based reference position based on a driving situation of the vehicle, and comparing an error level of the image-based reference position to the acceptance range and estimating a current position of the vehicle.