Method and apparatus for performing self vehicle position determination for updating HD map using v2x information fusion

摘要

To provide a method capable of calculating the position of an own vehicle so as to enable information acquired by the own vehicle to be more accurately mapped onto an HD map.SOLUTION: In a method for calculating an accurate position of an object vehicle by using relative distance information, when a reference image is acquired through a camera mounted on the object vehicle, a computing device detects a reference object in the reference image S01. The computing device calculates an image base reference distance between the reference object and the object vehicle on the reference image with reference to information on a reference bounding box corresponding to the reference object S02. The computing device generates a distance error value with reference to a coordinate base reference difference and the image base reference distance, and calibrates object position information of the object vehicle with reference to the distance error value S03.SELECTED DRAWING: Figure 2