Vision-aided system and method for guiding a vehicle
First Claim
Patent Images
1. A method for guiding a vehicle, the method comprising:
- collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;
collecting vision data for the vehicle based on a vision module associated with the vehicle;
estimating location quality data for the location data during an evaluation time window;
estimating vision quality data for the vision data during the evaluation time window; and
selecting a mixing ratio based on the quality data for the following equation;
y=α
×
yvision+(1−
α
)×
ygps, where y is the aggregate error control signal, α
is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal.
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Abstract
A method and system for guiding a vehicle comprises a location determining receiver for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A location quality estimator estimates the location quality data for the location data during an evaluation time window. A vision module estimates vision quality data for the vision data during the evaluation time window. A supervisor module selects a mixing ratio for the vision data and location data (or error signals associated therewith) based on the quality data.
36 Citations
26 Claims
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1. A method for guiding a vehicle, the method comprising:
-
collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;
collecting vision data for the vehicle based on a vision module associated with the vehicle;
estimating location quality data for the location data during an evaluation time window;
estimating vision quality data for the vision data during the evaluation time window; and
selecting a mixing ratio based on the quality data for the following equation;
y=α
×
yvision+(1−
α
)×
ygps, where y is the aggregate error control signal, α
is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for guiding a vehicle, the method comprising:
-
collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;
collecting vision data for the vehicle based on a vision module associated with the vehicle;
estimating location quality data for the location data during an evaluation time window;
estimating vision quality data for the vision data during the evaluation time window; and
selecting a mixing ratio based on the quality data for the following equation;
y=α
×
yvision+(1−
α
)×
ygps, where y is the aggregate error control signal, α
is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal, wherein the values of α
are based on a radius of curvature of a path of the vehicle being less than a reference radius of curvature. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for guiding a vehicle, the method comprising:
-
collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;
collecting vision data for the vehicle based on a vision module associated with the vehicle;
estimating location quality data for the location data during an evaluation time window;
estimating vision quality data for the vision data during the evaluation time window; and
selecting a mixing ratio based on the quality data for the following equation;
y=α
×
yvision+(1−
α
)×
ygps, where y is the aggregate error control signal, α
is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal, wherein the values of α
are based on a radius of curvature of a path of the vehicle being greater than a reference radius of curvature. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification