VEHICLE LOCALIZATION

• US 20130107669A1
• Filed: 10/28/2011
• Published: 05/02/2013
• Est. Priority Date: 10/28/2011
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: NICKOLAOU, JAMES N., FELDMAN, DMITRIY, GANDHI, DANIEL
• Granted Patent: US 9,453,737 B2
• Time in Patent Office: Days
• US Class Current: 367/125
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 5/02521 using a radio-map

Abstract

Methods, systems, and vehicles are provided for localizing a vehicle. A sensor is configured to detect an object disposed in a generally upward direction from the vehicle while the vehicle is travelling. A processor is coupled to the sensor. The processor is configured to correlate the object with information from a map database, thereby generating a correlation, and determine a geographic location of the vehicle based on the correlation.

Claims

1. A method for localizing a vehicle, the method comprising the steps of:

detecting an object with a sensor disposed in a generally upward direction from the vehicle while the vehicle is travelling;

correlating the object via a processor with information from a map database, thereby generating a correlation; and

determining via the processor a geographic location of the vehicle based on the correlation.

2. The method of claim 1, further comprising the step of:

aiming the sensor in a direction that is generally upward from the vehicle;

wherein the step of detecting the object comprises the step of detecting the object via the sensor while the vehicle is travelling.

3. The method of claim 2, wherein:

the step of aiming the sensor comprises the step of aiming the sensor approximately ninety degrees from a direction of travel of the vehicle; and

the step of detecting the object comprises the step of detecting the object via the sensor while the vehicle is travelling.

4. The method of claim 1, wherein the step of correlating the object with the information from the map database comprises the steps of:

identifying a geographic region in which the vehicle is travelling on the map database; and

identifying the object within the geographic region on the map database.

5. The method of claim 1, further comprising the step of:

storing information regarding the object for use in a subsequent drive cycle for the vehicle.

6. The method of claim 1, further comprising the step of:

obtaining a first indication of a location of the vehicle via a communication system, wherein;

the step of correlating the object comprises the step of identifying the object proximate the first indication on the map database, thereby generating an identification of the object; and

the step of determining the geographic location comprises the step of determining a second indication of the location of the vehicle based on the identification of the object.

7. The method of claim 6, further comprising the steps of:

obtaining data pertaining to operation of the vehicle from one or more vehicle sensors;

determining a measure of movement of the vehicle after the detecting of the object, using the data; and

determining a third indication of the geographic location of the vehicle based on the second indication and the measure of movement.

8. A system for localizing a vehicle, the method comprising the steps of:

a sensor configured to detect an object disposed in a generally upward direction from the vehicle while the vehicle is travelling; and

a processor coupled to the sensor and configured to;

correlate the object with information from a map database, thereby generating a correlation; and

determine a geographic location of the vehicle based on the correlation.

9. The system of claim 8, further comprising:

a memory configured to store the map database and information pertaining to the object.

10. The system of claim 8, wherein the sensor is aimed upward approximately ninety degrees of a direction of travel of the vehicle.

11. The system of claim 8, wherein the processor is further configured to:

identify a geographic region in which the vehicle is travelling on the map database; and

identify the object within the geographic region on the map.

12. The system of claim 8, further comprising a memory configured to store information pertaining to the object for use in a subsequent drive cycle for the vehicle.

13. The system of claim 8, wherein the processor is further configured to:

obtain a first indication of a location of the vehicle via a communication system;

identify the object proximate the first indication on the map database, to generate an identification of the object; and

determine a second indication of the location of the vehicle based on the identification of the object.

14. The system of claim 13, further comprising:

an additional sensor configured to obtain data pertaining to operation of the vehicle;

wherein the processor is also coupled to the additional sensor and configured to;

determine a measure of movement of the vehicle after the detecting of the object, using the data; and

determine a third indication of the geographic location of the vehicle based on the second indication and the measure of movement.

15. A vehicle comprising:

a body;

a drive system disposed within the body; and

a localization system disposed within the body, the localization system comprising;

a sensor configured to detect an object disposed in a generally upward direction from the vehicle while the vehicle is travelling; and

a processor coupled to the sensor and configured to;

correlate the object with information from a map database, thereby generating a correlation; and

determine a geographic location of the vehicle based on the correlation.

16. The vehicle of claim 15, wherein the localization system further comprises:

a memory configured to store the map database.

17. The vehicle of claim 15, wherein the sensor is aimed upward approximately ninety degrees from a direction of travel of the vehicle.

18. The vehicle of claim 15, wherein the processor is further configured to:

identify a geographic region in which the vehicle is travelling on the map database; and

identify the object within the geographic region on the map database.

19. The vehicle of claim 15, wherein the processor is further configured to:

obtain a first indication of a location of the vehicle via a communication system;

identify the object proximate the first indication on the map database, to generate an identification of the object; and

determine a second indication of the location of the vehicle based on the identification of the object.

20. The vehicle of claim 19, wherein the localization system further comprises:

an additional sensor configured to obtain data pertaining to operation of the vehicle;

wherein the processor is also coupled to the additional sensor and configured to;

determine a measure of movement of the vehicle after the detecting of the object, using the data; and

determine a third indication of the geographic location of the vehicle based on the second indication and the measure of movement.