ESTIMATE OF GEOGRAPHICAL POSITION OF A VEHICLE USING WIRELESS VEHICLE DATA
First Claim
1. A method for an ego vehicle including an Advanced Driver Assistance System (“
- an ADAS system”
) and a Global Positioning System (“
GPS”
) unit, the method comprising;
receiving a wireless message from a network, wherein the wireless message includes remote GPS data and relative position data associated with a remote vehicle;
determining ego estimate data based on the remote GPS data and the relative position data, wherein the ego estimate data describes a first geographical location of the ego vehicle from a first perspective of the remote vehicle; and
fusing the ego estimate data and ego GPS data to form fused data, wherein the ego GPS data is retrieved by the GPS unit of the ego vehicle and describes a second geographical location of the ego vehicle from a second perspective of the ego vehicle and the fused data describes a third geographical location of the ego vehicle with an accuracy of at least substantially plus or minus 1.5 meters relative to an actual geographic location of the ego vehicle.
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Accused Products
Abstract
The disclosure includes embodiments for improving an estimate of a geographical position of an ego vehicle using wireless vehicle data of a remote vehicle. A method according to some embodiments includes determining ego estimate data based on remote GPS data and relative position data. The remote GPS data describes a geographical location of the remote vehicle. The relative position data describes a location of the ego vehicle relative to the remote vehicle as measured by onboard sensors of the remote vehicle. The ego estimate data describes the geographical location of the ego vehicle from the perspective of the remote vehicle. The method includes fusing the ego estimate data and ego GPS data to form fused data. The ego GPS data describes the geographical location of the ego vehicle from the perspective of the ego vehicle. The fused data describes the geographical location of the ego vehicle with lane-level accuracy.
22 Citations
22 Claims
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1. A method for an ego vehicle including an Advanced Driver Assistance System (“
- an ADAS system”
) and a Global Positioning System (“
GPS”
) unit, the method comprising;receiving a wireless message from a network, wherein the wireless message includes remote GPS data and relative position data associated with a remote vehicle; determining ego estimate data based on the remote GPS data and the relative position data, wherein the ego estimate data describes a first geographical location of the ego vehicle from a first perspective of the remote vehicle; and fusing the ego estimate data and ego GPS data to form fused data, wherein the ego GPS data is retrieved by the GPS unit of the ego vehicle and describes a second geographical location of the ego vehicle from a second perspective of the ego vehicle and the fused data describes a third geographical location of the ego vehicle with an accuracy of at least substantially plus or minus 1.5 meters relative to an actual geographic location of the ego vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
- an ADAS system”
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9. A system including an ego vehicle, the ego vehicle comprising:
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an ADAS system; a GPS unit; and an onboard vehicle computer system that is communicatively coupled to the ADAS system and the GPS unit, the onboard vehicle computer system including a non-transitory memory storing computer code which, when executed by the onboard vehicle computer system causes the onboard vehicle computer system to; determine ego estimate data based on remote GPS data and relative position data, wherein the remote GPS data describes a geographical location of a remote vehicle and the relative position data describes a location of the ego vehicle relative to the remote vehicle as measured by the remote vehicle; and fuse the ego estimate data and ego GPS data to form fused data, wherein the ego estimate data describes a first geographical location of the ego vehicle from a first perspective of the remote vehicle and the ego GPS data is retrieved by the GPS unit of the ego vehicle and describes a second geographical location of the ego vehicle from a second perspective of the ego vehicle and the fused data describes a third geographical location of the ego vehicle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A computer program product comprising a non-transitory memory of an onboard vehicle computer system of an ego vehicle storing computer-executable code that, when executed by a processor, causes the processor to:
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determine ego estimate data based on remote GPS data and relative position data, wherein the remote GPS data describes a geographical location of a remote vehicle and the relative position data describes a location of the ego vehicle relative to the remote vehicle as measured by one or more sensors of the remote vehicle; and fuse the ego estimate data and ego GPS data to form fused data, wherein the ego estimate data describes a first geographical location of the ego vehicle from a first perspective of the one or more sensors of a remote vehicle and the ego GPS data is retrieved by a GPS unit of the ego vehicle and describes a second geographical location of the ego vehicle from a second perspective of the ego vehicle and the fused data describes a third geographical location of the ego vehicle. - View Dependent Claims (18, 19, 20)
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21. A wireless message stored in a non-transitory memory, wherein the wireless message includes:
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remote identification (“
ID”
) data uniquely identifying a remote vehicle;remote GPS data describing a geographical location of the remote vehicle at a selected point in time; ego ID data uniquely identifying an ego vehicle; and relative position data describing (1) a distance separating the remote vehicle and the ego vehicle at the selected point in time as measured by a sensor set of the remote vehicle and (2) an angle separating the remote vehicle and the ego vehicle at the selected point in time as measured by the sensor set. - View Dependent Claims (22)
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Specification