Vehicle positioning system using V2X, sensor, and GNSS information

• US 10,094,906 B2
• Filed: 12/22/2016
• Issued: 10/09/2018
• Est. Priority Date: 12/22/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Vijaya Kumar, Vivek, Krishnan, Hariharan
• Primary Examiner(s): Jen, Ian
• Application Number:
  US15/387,752
• Publication Number:
  US 20180180708A1
• Time in Patent Office: 656 Days
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G01S 5/0284 Relative positioning

Abstract

A method includes identifying a reference target with both a vehicle sensor and an infrastructure position signal. A position of a host vehicle with respect to the reference target is then determined. A localized position error between the host vehicle position and the determined position with respect to the object is then calculated with a vehicle controller. Finally, a vehicle positioning system is compensated to account for the localized position error.

Claims

1. A method comprising:

identifying a reference target with both a vehicle sensor and an infrastructure position signal;

determining a position of a host vehicle with respect to the reference target;

calculating a localized position error between the host vehicle position and the determined position with respect to the reference target with a vehicle controller; and

compensating a vehicle positioning system to account for the localized position error.

2. The method of claim 1, wherein the infrastructure position signal is transmitted from the reference target to an on-vehicle transmitting/receiving device.

3. The method of claim 1, further comprising:

obtaining vehicle positioning data from both the vehicle sensor and the infrastructure position signal; and

comparing the vehicle positioning data from the vehicle sensor to that of the vehicle positioning data from the infrastructure position signal.

4. The method of claim 3, further comprising:

selecting vehicle positioning data from a global navigation satellite system when the vehicle positioning data from the vehicle sensor is different from that of the vehicle positioning data from the infrastructure position signal.

5. The method of claim 3, further comprising:

performing an error function when the vehicle positioning data from the vehicle sensor is the same as that of the vehicle positioning data from the infrastructure position signal.

6. The method of claim 5, wherein the error function identifies the localized position error between the host vehicle position and the localized position determined using the reference target in a three-dimensional space.

7. A vehicle positioning system, comprising:

a first computing device configured to receive dynamics data and sensor object data from a host vehicle;

a receiving device configured to receive real time object position data from a reference target; and

a second computing device configured to compare data from the first computing device and the receiving device and to run an error function, wherein the second computing device is configured to calibrate the vehicle positioning system when the error function has a value other than zero.

8. The vehicle positioning system of claim 7, wherein the dynamics data includes one of a vehicle speed level, a vehicle acceleration rate, a vehicle yaw rate, a vehicle steering wheel position, a vehicle brake position, a vehicle throttle position, and a vehicle transmission gear position.

9. The vehicle positioning system of claim 7, wherein the dynamics data is communicated to the first computing device via a vehicle sensor.

10. The vehicle positioning system of claim 7, wherein the receiving device is interconnected with an antenna configured to receive an electromagnetic radio-frequency signal from the reference target.

11. The vehicle positioning system of claim 10, wherein the electromagnetic radio-frequency signal includes at least the real time object position data.

12. The vehicle positioning system of claim 7, wherein the second computing device further determines if the data from the first computing device and the receiving device identify the same object.

13. The vehicle positioning system of claim 12, wherein the second computing device selects vehicle positioning data from a global navigation satellite system when the data from the first computing device identifies a different object from that of the receiving device.

14. The vehicle positioning system of claim 12, wherein the second computing device performs an error function when the data from the first computing device identifies a same object from that of the receiving device.

15. The vehicle positioning system of claim 14, wherein the error function identifies a localized position error between the host vehicle and the reference target in a three-dimensional space.

16. The vehicle positioning system of claim 15, wherein the localized position error is applied to the vehicle positioning data.

17. A method comprising:

identifying a reference target with both a vehicle sensor and an infrastructure position signal;

determining, with a vehicle controller, that the vehicle sensor and the infrastructure position signal are identifying the same reference target;

calculating, in the vehicle controller, a localized position error between the host vehicle position and the localized position determined using the reference target based on at least data received from the vehicle sensor and the infrastructure position signal; and

compensating a vehicle positioning system to account for the localized position error.

18. The method of claim 17, wherein the infrastructure position signal is transmitted from the reference target to an on-vehicle transmitting/receiving device.

19. The method of claim 17, wherein when the vehicle controller determines that the vehicle sensor and the infrastructure position signal are identifying different reference targets, further comprising:

selecting vehicle positioning data from a global navigation satellite system.

20. The method of claim 17, wherein the localized position error between the host vehicle and the reference target is identified in a three-dimensional space.