VEHICLE LOCALIZATION WITH MAP-MATCHED SENSOR MEASUREMENTS
First Claim
1. A method comprising:
- receiving, by a computing system, at least a portion of an environmental model populated with measurement data captured by sensors mounted in a vehicle, wherein the measurement data is temporally aligned and spatially aligned in the environmental model; and
comparing, by the computing system, the measurement data in the environmental model to map data; and
when the comparison identifies a correlation between the measurement data in the environmental model and the map data, detecting, by the computing system, a location of the vehicle relative to the map data.
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Accused Products
Abstract
This application discloses a computing system to implement vehicle localization in an assisted or automated driving system. The computing system can receive an environmental model populated with measurement data captured by sensors mounted in a vehicle. The computing system can detect a location of the vehicle relative to the map data based on a correlation between the measurement data and the map data. The computing system can detect landmarks in the map data and switch to sparsely-populated map data from higher-definition map data for subsequent location detections. When the computing system does not detect a vehicle location, the computing system can track movement of the vehicle based on subsequent measurement data in the environmental model. After reacquiring a vehicle location, the computing can realign the tracked movement of the vehicle and measured data to the map data or modify the map data to include the tracked data.
11 Citations
20 Claims
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1. A method comprising:
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receiving, by a computing system, at least a portion of an environmental model populated with measurement data captured by sensors mounted in a vehicle, wherein the measurement data is temporally aligned and spatially aligned in the environmental model; and comparing, by the computing system, the measurement data in the environmental model to map data; and when the comparison identifies a correlation between the measurement data in the environmental model and the map data, detecting, by the computing system, a location of the vehicle relative to the map data. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus comprising at least one memory device storing instructions configured to cause one or more processing devices to perform operations comprising:
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receiving at least a portion of an environmental model populated with measurement data captured by sensors mounted in a vehicle, wherein the measurement data is temporally aligned and spatially aligned in the environmental model; and comparing the measurement data in the environmental model to map data; and when the comparison identifies a correlation between the measurement data in the environmental model and the map data, detecting a location of the vehicle relative to the map data. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system comprising:
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a memory device configured to store machine-readable instructions; and a computing system including one or more processing devices, in response to executing the machine-readable instructions, configured to; receive at least a portion of an environmental model populated with measurement data captured by sensors mounted in a vehicle, wherein the measurement data is temporally aligned and spatially aligned in the environmental model; and compare the measurement data in the environmental model to map data; and when the comparison identifies a correlation between the measurement data in the environmental model and the map data, detect a location of the vehicle relative to the map data. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification