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Method of augmenting GPS or GPS/sensor vehicle positioning using additional in-vehicle vision sensors

  • US 8,447,519 B2
  • Filed: 11/10/2010
  • Issued: 05/21/2013
  • Est. Priority Date: 11/10/2010
  • Status: Active Grant
First Claim
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1. A method of augmenting GPS data using an in-vehicle vision-based module, the method comprising:

  • determining a vehicle position utilizing position-related data obtained from a position module by a processor;

    estimating a position error on a periodic basis by the processor;

    determining whether the position error estimate exceeds a first predetermined error threshold;

    generating tracking data for the vehicle over a course of travel utilizing captured images from the in-vehicle vision based module;

    integrating the tracking data with the position-related data to estimate the vehicle position in response to the position error estimate exceeding the first predetermined error threshold;

    determining whether the position error estimate decreases below a second predetermined error threshold; and

    re-determining the vehicle position using only the position-related data when the position error estimate decreases below the second predetermined error threshold.

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