Vehicle radar perception and localization
First Claim
1. A vehicle driving system, comprising:
- storage media storing a map of roadways;
a radar system configured to generate radar perception information from a region near a vehicle;
one or more additional sensor units comprising a light detection and ranging (LIDAR) system;
a data quality component configured to determine that one or more sensor units are not providing usable data or are damaged, wherein the data quality component is configured to determine that the LIDAR system is not providing usable data or is damaged;
a location component configured to determine a location of the vehicle on the map based on the radar perception information and other navigation related data in response to determining that the LIDAR system is not providing usable data or is damaged and to determine the location of the vehicle on the map based on data from the LIDAR system when the LIDAR system is providing usable data; and
a drive controller configured to control driving of the vehicle based on the map and the determined location;
wherein the vehicle driving system is autonomous; and
wherein the other navigation related data comprises one or more of;
satellite positioning data from a satellite positioning system;
information received via a vehicle-to-vehicle communication;
information received via a vehicle-to-infrastructure communication; and
information from previous routes and trips driven by the vehicle.
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Accused Products
Abstract
The disclosure relates to methods, systems, and apparatuses for autonomous driving vehicles or driving assistance systems and more particularly relates to vehicle radar perception and location. The vehicle driving system disclosed may include a storage media, a radar system, a location component and a driver controller. The storage media stores a map of roadways. The radar system is configured to generate perception information from a region near the vehicle. The location component is configured to determine a location of the vehicle on the map based on the radar perception information and other navigation related data. The drive controller is configured to control driving of the vehicle based on the map and the determined location.
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Citations
18 Claims
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1. A vehicle driving system, comprising:
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storage media storing a map of roadways; a radar system configured to generate radar perception information from a region near a vehicle; one or more additional sensor units comprising a light detection and ranging (LIDAR) system; a data quality component configured to determine that one or more sensor units are not providing usable data or are damaged, wherein the data quality component is configured to determine that the LIDAR system is not providing usable data or is damaged; a location component configured to determine a location of the vehicle on the map based on the radar perception information and other navigation related data in response to determining that the LIDAR system is not providing usable data or is damaged and to determine the location of the vehicle on the map based on data from the LIDAR system when the LIDAR system is providing usable data; and a drive controller configured to control driving of the vehicle based on the map and the determined location; wherein the vehicle driving system is autonomous; and wherein the other navigation related data comprises one or more of; satellite positioning data from a satellite positioning system; information received via a vehicle-to-vehicle communication; information received via a vehicle-to-infrastructure communication; and information from previous routes and trips driven by the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of perception and localization for a road vehicle comprising:
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storing a map of a road or driving path; determining that a LIDAR system is not providing usable data or is damaged, the road vehicle comprising the LIDAR system; receiving perception information from a radar system for one or more of ground and objects in a region near the vehicle; receiving location information from a satellite positioning system; determining a location of the vehicle on the map based on the radar perception information and the location information in response to determining that the LIDAR system is not providing usable data or is damaged and determining the location of the vehicle on the map based on the LIDAR system when the LIDAR system is providing usable data; and performing a driving maneuver based on the determined location on the map. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A non-transitory computer readable storage media storing instructions that, when executed by a processor, cause the processor to:
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obtain map data from storage, the map data corresponding to a map of a road; determine that a LIDAR system of a vehicle is not providing usable data or is damaged; obtain navigation related data from one or more sources; obtain radar system data for a region near the vehicle; determine a position of the vehicle in relation to the road by processing the radar system data and the navigation related data when the LIDAR system is not providing usable data or is damaged and by processing data from the LIDAR system when the LIDAR system is providing usable data; and provide the position of the vehicle to an autonomous driving system of the vehicle; wherein the navigation related data comprises one or more of; satellite positioning data from a satellite positioning system; information received via a vehicle-to-vehicle communication; information received via a vehicle-to-infrastructure communication; and information from previous routes and trips driven by the vehicle. - View Dependent Claims (15, 16, 17, 18)
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Specification