Vision-aided system and method for guiding a vehicle
First Claim
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1. A method for guiding a vehicle, the method comprising:
- collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;
collecting vision data for the vehicle based on a vision module associated with the vehicle;
estimating location quality data for the location data during an evaluation time window based on a signal strength of each signal component received by the location-determining receiver;
estimating vision quality data for the vision data during the evaluation time window based on illumination present during the evaluation time window; and
selecting, by a data processor, a mixing ratio based on the location quality data and the vision quality data for the following equation;
y=α
×
yvision+(1−
α
)×
ygps, where y is the aggregate error control signal, α
is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal.
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Abstract
A method and system for guiding a vehicle comprises a location determining receiver for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A location quality estimator estimates the location quality data for the location data during an evaluation time window. A vision module estimates vision quality data for the vision data during the evaluation time window. A supervisor module selects a mixing ratio for the vision data and location data (or error signals associated therewith) based on the quality data.
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Citations
15 Claims
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1. A method for guiding a vehicle, the method comprising:
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collecting location data for the vehicle based on a location-determining receiver associated with the vehicle; collecting vision data for the vehicle based on a vision module associated with the vehicle; estimating location quality data for the location data during an evaluation time window based on a signal strength of each signal component received by the location-determining receiver; estimating vision quality data for the vision data during the evaluation time window based on illumination present during the evaluation time window; and selecting, by a data processor, a mixing ratio based on the location quality data and the vision quality data for the following equation; y=α
×
yvision+(1−
α
)×
ygps, where y is the aggregate error control signal, α
is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal.- View Dependent Claims (2, 3, 4, 5)
Eoff is the aggregate off-track error from the aggregation of off-track error data from location module and the vision module, Ehead is the aggregate heading error from the aggregation of the heading error data from the location module, the vision module and ρ
is the curvature error data;where α
is the aggregate mixing ratio or mixing ratio matrix, α
off is the mixing ratio for off-track error data, α
head is the mixing ratio for heading error data, and α
curve is the mixing ratio for curvature data;where Eoff — gps is the off-track error estimated by the location module 26, Ehead— gps is the heading error estimated by the location module, and ρ
gps is the curvature estimate error associated with the location module;where Eoff — vision is the off track error estimated by the vision module and Ehead— vision is the heading error estimated by the vision module.
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6. A method for guiding a vehicle, the method comprising:
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collecting location data for the vehicle based on a location-determining receiver associated with the vehicle; collecting vision data for the vehicle based on a vision module associated with the vehicle; estimating location quality data for the location data during an evaluation time window based on a signal strength of each signal component received by the location-determining receiver; estimating vision quality data for the vision data during the evaluation time window based on illumination present during the evaluation time window; and selecting, by a data processor, a mixing ratio based on the location quality data and the vision quality data for the following equation; y=α
×
yvision+(1−
α
)×
ygps, where y is the aggregate error control signal, α
is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal, wherein the values of α
are based on a radius of curvature of a path of the vehicle being greater than a reference radius of curvature.- View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification