System and method for determining pose data for a vehicle

• US 10,108,192 B1
• Filed: 01/30/2018
• Issued: 10/23/2018
• Est. Priority Date: 02/26/2016
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: LaForge, Seth Michael, Robinson, Craig Lewin, Tisdale, John, Smith, Russell
• Primary Examiner(s): Goldman, Richard A
• Application Number:
  US15/883,266
• Time in Patent Office: 266 Days
• Field of Search: 701 23, 701472, 701 41, 701468, 701300, 701470, 701301, 701 314, 701494, 701495, 701510, 34235724, 3423572, 3423573, 34235731
• CPC Class Codes: B60W 50/023 Avoiding failures by using redundant parts
• CPC Class Codes: G05D 1/0077 using redundant signals or controls
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0268 using internal positioning means
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.

Claims

1. A method comprising:

determining first pose data for an autonomous vehicle based on first sensor data from a first plurality of sensors;

crosschecking the first sensor data from the first plurality of sensors;

determining second pose data for the autonomous vehicle based on second sensor data from a second plurality of sensors;

crosschecking the second sensor data from the second plurality of sensors; and

controlling, by a vehicle computer system, motion of the autonomous vehicle based on and at least one of the first pose data or the second pose data.

2. The method of claim 1, wherein the first plurality of sensors comprises at least one of an inertial measurement unit (IMU), a wheel speed sensor, or a Global Positioning System (GPS) receiver.

3. The method of claim 1, wherein the second plurality of sensors comprises at least one of an inertial measurement unit (IMU), a wheel speed sensor, or a Global Positioning System (GPS) receiver.

4. The method of claim 1, further comprising:

determining first pose data quality for the first pose data, wherein the first pose data quality is determined based at least in part on the crosschecking of the first sensor data from the first plurality of sensors; and

determining second pose data quality for the second pose data, wherein the second pose data quality is determined based at least in part on the crosschecking of the second sensor data from the second plurality of sensors.

5. The method of claim 4, wherein the first pose data and the first pose data quality are determined by a first processor, and wherein the second pose data and the second pose data quality are determined by a second processor, further comprising:

receiving, by the vehicle computer system, the first pose data and the first pose data quality from the first processor; and

receiving, by the vehicle computer system, the second pose data and the second pose data quality from the second processor.

6. The method of claim 4, wherein controlling motion of the autonomous vehicle based on at least one of the first pose data or the second pose data comprises:

comparing the first pose data quality and the second pose data quality;

controlling the autonomous vehicle based on the first pose data if the first pose data quality is higher than the second pose data quality; and

controlling the autonomous vehicle based on the second pose data if the second pose data quality is higher than the first pose data quality.

7. The method of claim 4, wherein controlling motion of the autonomous vehicle based on at least one of the first pose data or the second pose data comprises:

determining whether either of the first pose data quality or the second pose data quality is at a predetermined high level;

controlling the autonomous vehicle normally if at least one of the first pose data quality or the second pose data quality is at the predetermined high level; and

controlling the autonomous vehicle to perform an emergency maneuver if neither the first pose data quality nor the second pose data quality is at the predetermined high level.

8. The method of claim 7, wherein controlling the autonomous vehicle to perform the emergency maneuver comprises controlling the autonomous vehicle to pull over and park.

9. The method of claim 7, wherein controlling the autonomous vehicle to perform the emergency maneuver comprises controlling the autonomous vehicle to stop immediately.

10. A system, comprising:

a first pose measurement system for an autonomous vehicle, comprising;

a first plurality of sensors; and

a first processor, wherein the first processor is configured to determine first pose data for the autonomous vehicle based on first sensor data from the first plurality of sensors and crosscheck the first sensor data from the first plurality of sensors;

a second pose measurement system for an autonomous vehicle, comprising;

a second plurality of sensors; and

a second processor, wherein the second processor is configured to determine second pose data for the autonomous vehicle based on second sensor data from the second plurality of sensors and crosscheck the second sensor data from the second plurality of sensors; and

a vehicle control system comprising a vehicle-control processor and a memory storing instructions executable by the vehicle-control processor to perform functions comprising;

receiving the first pose data from the first pose measurement system;

receiving the second pose data from the second pose measurement system; and

controlling motion of the autonomous vehicle based on at least one of the first pose data or the second pose data.

11. The system of claim 10, wherein the first plurality of sensors comprises at least one of an inertial measurement unit (IMU), a wheel speed sensor, or a Global Positioning System (GPS) receiver, and wherein the second plurality of sensors comprises at least one of an IMU, a wheel speed sensor, or a GPS receiver.

12. The system of claim 10, wherein the functions further comprise:

determining first pose data quality for the first pose data, wherein the first pose data quality is determined based at least in part on crosschecking the first pose data from the first plurality of sensors; and

determining second pose data quality for the second pose data, wherein the second pose data quality is determined based at least in part on crosschecking the second pose data from the second plurality of sensors.

13. The system of claim 12, wherein controlling motion of the autonomous vehicle based on at least one of the first pose data or the second pose data comprises:

comparing the first pose data quality and the second pose data quality;

controlling the autonomous vehicle based on the first pose data if the first pose data quality is higher than the second pose data quality; and

controlling the autonomous vehicle based on the second pose data if the second pose data quality is higher than the first pose data quality.

14. The system of claim 12, wherein controlling motion of the autonomous vehicle based on at least one of the first pose data or the second pose data comprises:

determining whether either of the first pose data quality or the second pose data quality is at a predetermined high level;

controlling the autonomous vehicle normally if at least one of the first pose data quality or the second pose data quality is at the predetermined high level; and

controlling the autonomous vehicle to perform an emergency maneuver if neither the first pose data quality nor the second pose data quality is at the predetermined high level.

15. The system of claim 14, wherein controlling the autonomous vehicle to perform the emergency maneuver comprises controlling the autonomous vehicle to pull over and park.

16. The system of claim 14, wherein controlling the autonomous vehicle to perform the emergency maneuver comprises controlling the autonomous vehicle to stop immediately.

17. A non-transitory computer-readable medium storing instructions that are executable by one or more computing devices, wherein executing the instructions causes the one or more computing devices to perform functions comprising:

determining first pose data for an autonomous vehicle based on first sensor data from a first plurality of sensors;

crosschecking the first sensor data from the first plurality of sensors;

determining second pose data for the autonomous vehicle based on second sensor data from a second plurality of sensors;

crosschecking the second sensor data from the second plurality of sensors; and

controlling motion of the autonomous vehicle based on at least one of the first pose data or the second pose data.

18. The non-transitory computer readable medium of claim 17, wherein the functions further comprise:

determining first pose data quality for the first pose data, wherein the first pose data quality is determined based at least in part on the crosschecking of the first sensor data from the first plurality of sensors; and

determining second pose data quality for the second pose data, wherein the second pose data quality is determined based at least in part on the crosschecking of the second sensor data from the second plurality of sensors.

19. The non-transitory computer readable medium of claim 18, wherein controlling motion of the autonomous vehicle based on at least one of the first pose data or the second pose data comprises:

comparing the first pose data quality and the second pose data quality;

controlling the autonomous vehicle based on the first pose data if the first pose data quality is higher than the second pose data quality; and

controlling the autonomous vehicle based on the second pose data if the second pose data quality is higher than the first pose data quality.

20. The non-transitory computer readable medium of claim 18, wherein controlling motion of the autonomous vehicle based on at least one of the first pose data or the second pose data comprises:

determining whether either of the first pose data quality or the second pose data quality is at a predetermined high level;

controlling the autonomous vehicle normally if at least one of the first pose data quality or the second pose data quality is at the predetermined high level; and

controlling the autonomous vehicle to perform an emergency maneuver if neither the first pose data quality nor the second pose data quality is at the predetermined high level.