Accurate self localization using automotive radar synthetic aperture radar

• US 10,444,347 B2
• Filed: 01/16/2017
• Issued: 10/15/2019
• Est. Priority Date: 11/30/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Bialer, Oded, Bilik, Igal
• Primary Examiner(s): Bythrow, Peter M
• Application Number:
  US15/407,056
• Publication Number:
  US 20180149744A1
• Time in Patent Office: 1,002 Days
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 13/90 using synthetic aperture techniques , e.g. synthetic aperture radar [SAR] techniques
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values

Abstract

A vehicle, driving system and method for driving a vehicle is disclosed. The driving system includes a radar system, a processor and an autonomous driving system. The radar system obtains an SAR measurement of a static object in an environment of the vehicle. The processor obtains a first estimate of a location of the vehicle in the environment, obtains from a database a representation of a static object in the environment associated with the first estimate of the location, and compares the SAR measurement of the static object to the representation of the static object from the database to obtain a second estimate of the location of the vehicle. The autonomous driving system drives the vehicle through the environment based on the second estimate of the location of the vehicle.

Claims

1. A method of driving a vehicle, comprising:

obtaining at a processor of the vehicle a first estimate of a location of the vehicle in an environment;

obtaining a synthetic aperture radar (SAR) measurement of the static object in the environment;

obtaining from a database a representation of a static object in the environment associated with the first estimate of the location, wherein the representation includes a previously obtained SAR measurement of the static object;

comparing the SAR measurement of the static object to the representation of the static object from the database to obtain a second estimate of the location of the vehicle; and

driving the vehicle through the environment based on the second estimate of the location of the vehicle.

2. The method of claim 1, wherein the database includes one of:

(i) a digital map augmented by previous SAR measurements; and

(ii) a composite image created from previous SAR measurements.

3. The method of claim 1, wherein driving the vehicle through the environment based on the second estimate of the location of the vehicle further comprises performing a maneuver suitable for the vehicle'"'"'s environment given the second estimate of the location.

4. The method of claim 1, wherein comparing the SAR measurement of the static object to the representation of the static object further comprises at least one of:

(i) comparing a size of the SAR measurement of the static object to the size of the representation of the static object;

(ii) comparing relative angles of the SAR measurement of the static object and the representation of the static object; and

(iii) comparing relative ranges of the SAR measurement of the static object and the representation of the static object.

5. The method of claim 1, wherein, upon receiving the SAR measurement, an action is performed in at least one of:

(i) a training stage; and

(ii) a localization stage.

6. The method of claim 5, wherein the training stage includes obtaining an estimate of a location of the vehicle, obtaining an SAR measurement at the estimated location of the vehicle and creating the representation of the static object in the database with the SAR measurement and its associated estimate of the location of the vehicle.

7. The method of claim 5, wherein the localization stage further comprises matching the SAR measurement to the representation of the static object stored in a database.

8. A driving system for a vehicle, comprising:

a radar system for obtaining a synthetic aperture radar (SAR) measurement of a static object in an environment of the vehicle;

a processor that;

obtains a first estimate of a location of the vehicle in the environment,

obtains from a database a representation of a static object in the environment associated with the first estimate of the location, wherein the representation includes a previously obtained SAR measurement of the static object, and

compares the SAR measurement of the static object to the representation of the static object from the database to obtain a second estimate of the location of the vehicle; and

an autonomous driving system for driving the vehicle through the environment based on the second estimate of the location of the vehicle.

9. The driving system of claim 8, wherein the database includes one of:

(i) a digital map augmented by previous SAR measurements; and

(ii) a composite image created from previous SAR measurements.

10. The driving system of claim 8, wherein the autonomous driving system drives the vehicle through the environment based on the second estimate of the location of the vehicle by performing a maneuver suitable for the vehicle'"'"'s environment given the second estimate of the location.

11. The driving system of claim 8, wherein the processor compares the SAR measurement of the static object to the representation of the static object by performing at least one of:

(i) comparing a size of the SAR measurement of the static object to the size of the representation of the static object;

(ii) comparing relative angles of the SAR measurement of the static object and the representation of the static object; and

(iii) comparing relative ranges of the SAR measurement of the static object and the representation of the static object.

12. The driving system of claim 8, wherein the processor performs at least one of:

(i) a training stage; and

(ii) a localization stage, upon receiving the SAR measurement at the radar system.

13. The driving system of claim 12, wherein the training stage includes obtaining an estimate of a location of the vehicle, obtaining an SAR measurement at the estimated location of the vehicle and creating the representation of the static object in the database with the SAR measurement and its associated estimate of the location of the vehicle.

14. The driving system of claim 12, wherein the localization stage further comprises matching the SAR measurement to the representation of the static object stored in a database.

15. A vehicle, comprising:

a radar system for obtaining a synthetic aperture radar (SAR) measurement of a static object in an environment of the vehicle;

a processor that;

obtains a first estimate of a location of the vehicle in the environment,

obtains from a database a representation of a static object in the environment associated with the first estimate of the location, wherein the representation includes a previously obtained SAR measurement of the static object, and

compares the SAR measurement of the static object to the representation of the static object from the database to obtain a second estimate of the location of the vehicle; and

an autonomous driving system for driving the vehicle through the environment based on the second estimate of the location of the vehicle.

16. The vehicle of claim 15, wherein the database includes one of:

(i) a digital map augmented by previous SAR measurements; and

(ii) a composite image created from previous SAR measurements.

17. The vehicle of claim 15, wherein the autonomous driving system drives the vehicle through the environment based on the second estimate of the location of the vehicle by performing a maneuver suitable for the vehicle'"'"'s environment given the second estimate of the location.

18. The vehicle of claim 15, wherein the processor compares the SAR measurement of the static object to the representation of the static object by performing at least one of:

(i) comparing a size of the SAR measurement of the static object to the size of the representation of the static object;

(ii) comparing relative angles of the SAR measurement of the static object and the representation of the static object; and

(iii) comparing relative ranges of the SAR measurement of the static object and the representation of the static object.

19. The vehicle of claim 15, wherein the processor performs at least one of:

(i) a training stage; and

(ii) a localization stage, upon receiving the SAR measurement at the radar system.

20. The vehicle of claim 19, wherein:

(i) the training stage includes obtaining an estimate of a location of the vehicle, obtaining an SAR measurement at the estimated location of the vehicle and creating the representation of the static object in the database with the SAR measurement and its associated estimate of the location of the vehicle; and

(ii) the localization stage further comprises matching the SAR measurement to the representation of the static object stored in a database.