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Systems and Methods for Precise Sub-Lane Vehicle Positioning

  • US 20120150437A1
  • Filed: 12/13/2010
  • Published: 06/14/2012
  • Est. Priority Date: 12/13/2010
  • Status: Active Grant
First Claim
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1. A method performed by a vehicle having an on-board computer, vehicle sensors, a satellite-positioning unit, a database storing a lane-level map for determining a new pose of the vehicle using map matching, the method comprising:

  • the on-board computer of the vehicle receiving new data from at least one of the vehicle sensors;

    the on-board computer of the vehicle collecting measurements from the vehicle sensors;

    the on-board computer of the vehicle computing propagation of vehicle pose with respect to consecutive time instances;

    the on-board computer of the vehicle performing a curve-fitting process;

    the on-board computer of the vehicle performing a sub-routine of updating at least one observation model based on results of the curve-fitting process;

    the on-board computer of the vehicle performing a tracking sub-routine including using a probability distribution to update the vehicle pose in terms of data particles; and

    the on-board computer of the vehicle performing a particle filtering sub-routine based on the data particles to compute the new vehicle pose.

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