METHOD FOR RECOGNIZING LANE-LEVEL VEHICLE POSITIONING INFORMATION BASED ON LIDAR MAP MATCHING RECORDING MEDIUM AND DEVICE FOR PERFORMING THE METHOD

A method for recognizing a lane-level vehicle location information based on a lidar map matching comprises the steps of: extracting a part of global map data related to the current location of a vehicle of reference global map data stored based on global positioning system (GPS) data installed in th...

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Bibliographische Detailangaben
Hauptverfasser:	LEE, HYUN SUNG, YI, KYONG SU, PARK, SUNG YEOL
Format:	Patent
Sprache:	eng ; kor
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING
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Beschreibung
Zusammenfassung:	A method for recognizing a lane-level vehicle location information based on a lidar map matching comprises the steps of: extracting a part of global map data related to the current location of a vehicle of reference global map data stored based on global positioning system (GPS) data installed in the vehicle; obtaining, in real time, local map data related to a location in a current lane of the vehicle under driving from a sensor installed in the vehicle; performing a map matching for the part of global map data and the local map data through rotation and shifting; and correcting the location and direction of the vehicle obtained from the GPS signal based on the result of the map matching. Accordingly, the location and traveling direction of the vehicle can be more accurately measured using a lidar positioning without expensive equipments. 라이더 맵 매칭 기반 차선레벨 차량 위치정보 인지 방법은, 차량에 설치된 GPS(Global Positioning System) 데이터를 기반으로 저장된 참조 글로벌(global) 맵 데이터 중 차량의 현재 위치와 관련된 일부의 글로벌 맵 데이터를 발췌하는 단계; 차량에 설치된 센서로부터 주행 중인 차량의 현재 차선(lane) 내의 위치와 관련된 로컬(local) 맵 데이터를 실시간으로 취득하는 단계; 회전 및 평행이동을 통해 상기 일부의 글로벌 맵 데이터와 상기 로컬 맵 데이터의 맵 매칭을 수행하는 단계; 및 상기 맵 매칭의 결과를 기초로, GPS 신호로부터 획득한 차량의 위치와 방향을 보정하는 단계를 포함한다. 이에 따라, 고가의 장비 없이도 라이더 측위를 이용하여 차량의 위치와 진행 방향을 더욱 정확하게 측정할 수 있다.