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公开(公告)号：US20230194268A1
公开(公告)日：2023-06-22
申请号：US17556048
申请日：2021-12-20
发明人： Hyungjin Kim
CPC分类号： G01C21/30 , B60W60/001 , G01S17/89 , G01S7/4802 , G06F16/29 , B60W2552/53 , B60W2420/52
摘要： System, methods, and computer-readable media for localizing an autonomous vehicle to a location in a stored LIDAR map relative to lane markings labeled in the stored LIDAR map. The labeled lane marking may be associated with a dashed line, a solid line, a double line, or an unmarked line. The autonomous vehicle may fit the set of lane marking points with the labeled lane marking via a point-to-line solver that locates the set of lane marking points to the line, excluding a longitudinal variable. The lane matching localizing system utilities a point-to-line iterative closet point, wherein the matched point pairs are calculated by perpendicular point of line from the query point instead of finding the closest sampled point.
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公开(公告)号：US12098925B2
公开(公告)日：2024-09-24
申请号：US17556048
申请日：2021-12-20
发明人： Hyungjin Kim
CPC分类号： G01C21/30 , B60W60/001 , G01S7/4802 , G01S17/89 , G06F16/29 , B60W2420/408 , B60W2552/53
摘要： System, methods, and computer-readable media for localizing an autonomous vehicle to a location in a stored LIDAR map relative to lane markings labeled in the stored LIDAR map. The labeled lane marking may be associated with a dashed line, a solid line, a double line, or an unmarked line. The autonomous vehicle may fit the set of lane marking points with the labeled lane marking via a point-to-line solver that locates the set of lane marking points to the line, excluding a longitudinal variable. The lane matching localizing system utilities a point-to-line iterative closet point, wherein the matched point pairs are calculated by perpendicular point of line from the query point instead of finding the closest sampled point.
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公开(公告)号：US20240010213A1
公开(公告)日：2024-01-11
申请号：US17858831
申请日：2022-07-06
发明人： Hyungjin Kim , Adria Serra Moral , Ankit Rohatgi
CPC分类号： B60W50/06 , B60W60/001
摘要： The subject disclosure relates to estimating a chassis frame of an autonomous vehicle. A process of the disclosed technology can include receiving a position for each of a plurality of sensors on an autonomous vehicle, determining an ideal chassis point in relation to a constellation of model sensors in a CAD model associated with the autonomous vehicle, generating a constellation of the plurality of sensors based on the positions of the plurality of sensors in relation to the ideal chassis point, minimizing distortion between measured values associated with the constellation of the plurality of sensors and ideal values associated with the constellation of model sensors, determining an estimated real chassis point based on the minimized distortion between the measured values and the ideal values, and calibrating at least one of the plurality of sensors based on the estimated real chassis point.
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