公开(公告)号：US12158345B2

公开(公告)日：2024-12-03

申请号：US16967001

申请日：2019-02-12

Applicant: RENAULT s.a.s.

Inventor： Franck Li ,  Philippe Bonnifait ,  Javier Ibanez-Guzman

IPC: G01C21/30 ,  G01S19/45 ,  G05D1/00 ,  G06F16/29

Abstract: A method for estimating a precise position of a vehicle on a map includes acquiring at least one geolocated position of the vehicle by way of a geolocation system, pre-positioning the vehicle on the map, and particle filtering in which possible positions of the vehicle, called particles are processed. The particle filtering includes distributing particles on the map, and then updating the particles on the map, calculating the likelihood of each particle, selecting a limited set of particles, and, if an indicator relating to the likelihood of the selected particles and to the number of selected particles drops below a threshold, resampling particles on the map.