VEHICLE LOCALIZATION SYSTEM

• US 20200130699A1
• Filed: 09/16/2019
• Published: 04/30/2020
• Est. Priority Date: 10/31/2018
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Suwabe, Koki, Matsui, Toshiki
• Granted Patent: US 10,953,886 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A vehicle localization system includes: an electronic control unit estimating a vehicle position including a longitudinal position on a map in an extension direction of a road on which the vehicle is traveling and a lateral position on the map in a lateral direction of the road; and a storage device storing a map database including map information. The electronic control unit obtains a vehicle speed and a pitch angle of the vehicle, perceives a measured position of the vehicle on the map based on a measurement result of a positioning device mounted on the vehicle and the vehicle speed, and estimates the longitudinal position from comparison between a rate of change in pitch angle of the vehicle along the road and a rate of change in height on the map along the road, based on the measured position, the map information, and the pitch angle.

Claims

1. A vehicle localization system, comprising:

an electronic control unit configured to estimate a vehicle position including a longitudinal position and a lateral position, the longitudinal position being a position of a vehicle on a map in an extension direction of a road on which the vehicle is traveling, and the lateral position being a position of the vehicle on the map in a lateral direction of the road; and

a storage device that stores a map database including map information, the map information including height information or grade information of the road, wherein;

the electronic control unit is configured to obtain a vehicle speed and a pitch angle of the vehicle traveling on the road;

the electronic control unit is configured to perceive a measured position of the vehicle on the map based on a measurement result of a positioning device mounted on the vehicle and the vehicle speed; and

the electronic control unit is configured to estimate the longitudinal position from comparison between a rate of change in pitch angle of the vehicle along the road and a rate of change in height on the map along the road, based on the measured position of the vehicle on the map, the map information, and the pitch angle of the vehicle.

2. The vehicle localization system according to claim 1, wherein

the electronic control unit is configured to determine whether the vehicle is located near a characteristic height change section set in advance, based on the measured position of the vehicle on the map and the map information, and

the electronic control unit is configured to estimate the longitudinal position when determining that the vehicle is located near the characteristic height change section, and not to estimate the longitudinal position from the comparison between the rate of change in pitch angle of the vehicle and the rate of change in height on the map when determining that the vehicle is not located near the characteristic height change section.