Combining multiple estimates of an environment into a consolidated estimate for an autonomous vehicle
First Claim
1. A method performed by a computing device comprising one or more processors, the method comprising:
- obtaining first data including a first estimate of a location of a region of interest of a road, the first data having been acquired at a first time, wherein the first data comprises a predetermined map of the road, and wherein an autonomous vehicle is operating on the road;
based on the first data, determining a first variance in the first estimate of the location;
receiving, via at least one sensor coupled to the autonomous vehicle, second data including a second estimate of the location, the second data having been acquired at a second time different from the first time;
based on the second data, determining a second variance in the second estimate of the location; and
based on the first estimate, the first variance, the second estimate, and the second variance, determining third data including a combined estimate of the location and further including a combined variance in the combined estimate.
5 Assignments
0 Petitions
Accused Products
Abstract
A vehicle is provided that may combine multiple estimates of an environment into a consolidated estimate. The vehicle may receive first data indicative of the region of interest in an environment from a sensor of the vehicle. The first data may include a first accuracy value and a first estimate of the region of interest. The vehicle may also receive second data indicative of the region of interest in the environment, and the second data may include a second accuracy value and a second estimate of the region of interest. Based on the first data and the second data, the vehicle may combine the first estimate of the region of interest and the second estimate of the region of interest.
-
Citations
20 Claims
-
1. A method performed by a computing device comprising one or more processors, the method comprising:
-
obtaining first data including a first estimate of a location of a region of interest of a road, the first data having been acquired at a first time, wherein the first data comprises a predetermined map of the road, and wherein an autonomous vehicle is operating on the road; based on the first data, determining a first variance in the first estimate of the location; receiving, via at least one sensor coupled to the autonomous vehicle, second data including a second estimate of the location, the second data having been acquired at a second time different from the first time; based on the second data, determining a second variance in the second estimate of the location; and based on the first estimate, the first variance, the second estimate, and the second variance, determining third data including a combined estimate of the location and further including a combined variance in the combined estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. An autonomous vehicle comprising:
-
at least one sensor configured to sense a road on which the autonomous vehicle is operating; at least one processor; and data storage comprising instructions executable by the at least one processor to cause a computing system to perform operations comprising; obtaining first data including a first estimate of a location of a region of interest of the road, the first data having been acquired at a first time, wherein the first data comprises a predetermined map of the road; based on the first data, determining a first variance in the first estimate of the location; receiving, via the at least one sensor, second data including a second estimate of the location, the second data having been acquired at a second time different from the first time; based on the second data, determining a second variance in the second estimate of the location; and based on the first estimate, the first variance, the second estimate, and the second variance, determining third data including a combined estimate of the location and further including a combined variance in the combined estimate. - View Dependent Claims (9, 10, 11, 12, 13, 14)
-
-
15. A non-transitory computer readable medium having stored therein instructions that when executed by a computing system cause the computing system to perform operations comprising:
-
obtaining first data including a first estimate of a location of a region of interest of a road, the first data having been acquired at a first time, wherein the first data comprises a predetermined map of the road, and wherein an autonomous vehicle is operating on the road; based on the first data, determining a first variance in the first estimate of the location; receiving, via at least one sensor coupled to the autonomous vehicle, second data including a second estimate of the location, the second data having been acquired at a second time different from the first time; based on the second data, determining a second variance in the second estimate of the location; and based on the first estimate, the first variance, the second estimate, and the second variance, determining third data including a combined estimate of the location and further including a combined variance in the combined estimate. - View Dependent Claims (16, 17, 18, 19, 20)
-
Specification