How to estimate the location of the vehicle on the map

摘要

The present invention is a method of estimating an exact position of a vehicle on a map, the method comprising:-acquiring at least one positioning position (P _o ) of the vehicle through a positioning system; -Pre-locating the vehicle on the map; And-a particle filtering step of causing possible positions of the vehicle, called particles (P _i ), to be processed. According to the present invention, the filtering of particles may include:-a preliminary step of distributing particles on the map, followed by updating particles on the map; -Calculating the likelihood of each particle (公算: lkelyhood); -Selecting a limited set of particles; And-if an indicator related to the probability of the selected particles and the number of selected particles is less than a threshold value, resampling the particles on the map.