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

Claim 12:
13. A non-transitory computer-readable storage medium storing one or more instructions which, when executed by one or more processors of a processing system, cause the one or more processors to carry out a method for estimating a vertical offset of a road segment for a vehicle, the method comprising:
tracking at least one road reference on the road segment at a first moment in time from a first observation point in order to form a first representation of the at least one road reference in a vehicle plane, and wherein the first representation is based on a first mathematical function;
obtaining vehicle movement data over a time period extending from the first moment in time to a second moment in time;
tracking the at least one road reference on the road segment at the second moment in time from a second observation point in order to form a second representation of the at least one road reference in the vehicle plane, and wherein the second representation is based on a second mathematical function;
transforming 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;
applying 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
determining the vertical offset based on the applied vertical coordinate that satisfied the second mathematical function with the maximum error value and on the obtained vehicle movement data.