UNIT AND METHOD FOR IMPROVING POSITIONING ACCURACY
First Claim
1. A unit for improving positioning accuracy of an autonomous vehicle driving on a road, the unit comprising:
- a first computation unit configured to compute a first position of the vehicle on the road at a time T1 using data from at least an inertial measurement unit (IMU);
a second computation unit configured to compute a second position of the vehicle on the road at the time T1 using data from at least one external sensor and a map;
a comparison unit configured to compute a position difference between the computed first position and the computed second position;
a correction unit configured to correct an error parameter of at least the IMU, wherein the error parameter is usable for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2; and
a positioning unit configured to decide the position of the vehicle on the road.
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Accused Products
Abstract
A unit for improving positioning accuracy of an autonomous vehicle driving on a road includes a first computation unit configured to compute a first position of the vehicle at a time T1 using data from at least an inertial measurement unit (IMU); a second computation unit configured to compute a second position of the vehicle at the time T1 using data from at least one external sensor and a map; a comparison unit configured to compute a position difference between the computed first and second positions; a correction unit configured to correct an error parameter of the IMU, wherein the error parameter is used for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2.
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Citations
15 Claims
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1. A unit for improving positioning accuracy of an autonomous vehicle driving on a road, the unit comprising:
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a first computation unit configured to compute a first position of the vehicle on the road at a time T1 using data from at least an inertial measurement unit (IMU); a second computation unit configured to compute a second position of the vehicle on the road at the time T1 using data from at least one external sensor and a map; a comparison unit configured to compute a position difference between the computed first position and the computed second position; a correction unit configured to correct an error parameter of at least the IMU, wherein the error parameter is usable for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2; and a positioning unit configured to decide the position of the vehicle on the road. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for improving positioning accuracy of an autonomous vehicle driving on a road, wherein the method is performed in a unit, the method comprising:
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computing a first position of the vehicle on the road at a time T1 in a first computation unit, wherein the computation is performed using data from at least an inertial measurement unit (IMU); computing a second position of the vehicle on the road at the time T1 in a second computation unit, wherein the computation is performed using data from at least one external sensor and a map; computing a position difference between the computed first position and the computed second position in a comparison unit; correcting an error parameter of at least the IMU in a correction unit, wherein the error parameter is used for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2; and deciding the position of the vehicle on the road in a positioning unit.
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15. A non-transitory computer readable medium comprising program instructions for improving positioning accuracy of an autonomous vehicle driving on a road, wherein the program instructions are executable by one or more processors of a computer system to:
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compute a first position of the vehicle on the road at a time T1 using data from at least an inertial measurement unit (IMU); compute a second position of the vehicle on the road at the time T1 using data from at least one external sensor and a map; compute a position difference between the computed first position and the computed second position; correct an error parameter of at least the IMU, wherein the error parameter is usable for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2; and decide the position of the vehicle on the road.
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Specification