FIELD: machine building.
SUBSTANCE: invention relates to vehicle localization device. Proposed device comprises: targets database, target recognition unit, transverse and longitudinal position estimation units. Target database stores information on the location of the first and second targets on the map. First target comprises straight line marking corresponding to straight section of road, and second target comprises at least one curved marking line corresponding to curvilinear section of road. Target recognition unit is configured to recognize the position of the straight marking line relative to the vehicle and the position of at least one curved line of marking relative to the vehicle based on the recognition results by the built-in vehicle sensor. Transverse position evaluation unit is configured to analyze the transverse position and direction of the vehicle based on the position of the straight marking line relative to the vehicle and the location information of the straight marking line on the map. Vehicle transverse position is understood to mean vehicle position on map in direction of strip width along which vehicle moves. Longitudinal position evaluation unit is configured to analyze the longitudinal position of the vehicle based on the position of at least one curved line of marking relative to the vehicle and information on the location of at least one curved marking line on the map. Position of curved line of marking relative to vehicle reflects transverse position and direction of vehicle. Vehicle longitudinal position is understood to mean vehicle position on the map in direction of lane continuation.
EFFECT: invention is achieved by providing a device configured to prevent the vehicle position determining accuracy decrease.
4 cl, 10 dwg
