Patent ID: 11908206
Assignee: ZENUITY AB
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 13:
14. A control device for estimating a vertical offset of a road segment for a vehicle, the control device comprising:
a control circuitry configured to:
track a road reference on the road segment by an image sensor at a first moment in time from a first observation point in order to form a first representation of the road reference in a vehicle plane, and wherein the first representation is based on a first mathematical function;
obtain vehicle movement data from at least one motion sensor of the vehicle over a time period extending from the first moment in time to a second moment in time;
track the road reference on the road segment by the image sensor at the second moment in time from a second observation point in order to form a second representation of the road reference in the vehicle plane, and wherein the second representation is based on a second mathematical function;
transform a point of the first representation from a coordinate system of the first representation to a coordinate system of the second representation based on the obtained movement data;
apply a vertical coordinate on the transformed point so to calculate a set of projected longitudinal and lateral coordinates that satisfy the second mathematical function and a maximum error value; and
determine the vertical offset based on the applied vertical coordinate that satisfied the second mathematical function and the maximum error value and on the obtained vehicle movement data.