Systems and methods for precise sub-lane vehicle positioning
First Claim
1. A method, performed by a vehicle having an on-board computer, vehicle sensors, a satellite-positioning unit, a database storing a lane-level map for determining a new pose of the vehicle using map matching, comprising:
- collecting, by the on-board computer of the vehicle, measurements from the vehicle sensors;
computing, by the on-board computer of the vehicle, propagation of vehicle pose with respect to consecutive time instances;
performing, by the on-board computer of the vehicle, a curve-fitting process;
performing, by the on-board computer of the vehicle, a sub-routine of updating at least one observation model based on results of the curve-fitting process;
performing, by the on-board computer of the vehicle, a tracking sub-routine to update the vehicle pose in terms of data particles; and
performing, by the on-board computer of the vehicle, a particle-filtering sub-routine based on the data particles to compute the new vehicle pose, the particle-filtering sub-routine employing a sampling technique for identifying, from amongst the data particles being of a first distribution, more-applicable data particles and less-relevant particles.
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Accused Products
Abstract
A vehicle having an on-board computer, vehicle sensors, a satellite-positioning unit, a database storing a lane-level map performs a method to determine a new pose of the vehicle using map matching. The method includes the on-board computer of the vehicle receiving new data from at least one of the vehicle sensors and collecting measurements from the vehicle sensors. The method also includes the on-board computer of the vehicle computing propagation of vehicle pose with respect to consecutive time instances and performing a curve-fitting process. The method further includes the on-board computer of the vehicle performing a sub-routine of updating at least one observation model based on results of the curve-fitting process, performing a tracking sub-routine including using a probability distribution to update the vehicle pose in terms of data particles, and performing a particle filtering sub-routine based on the data particles to compute the new vehicle pose.
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Citations
20 Claims
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1. A method, performed by a vehicle having an on-board computer, vehicle sensors, a satellite-positioning unit, a database storing a lane-level map for determining a new pose of the vehicle using map matching, comprising:
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collecting, by the on-board computer of the vehicle, measurements from the vehicle sensors; computing, by the on-board computer of the vehicle, propagation of vehicle pose with respect to consecutive time instances; performing, by the on-board computer of the vehicle, a curve-fitting process; performing, by the on-board computer of the vehicle, a sub-routine of updating at least one observation model based on results of the curve-fitting process; performing, by the on-board computer of the vehicle, a tracking sub-routine to update the vehicle pose in terms of data particles; and performing, by the on-board computer of the vehicle, a particle-filtering sub-routine based on the data particles to compute the new vehicle pose, the particle-filtering sub-routine employing a sampling technique for identifying, from amongst the data particles being of a first distribution, more-applicable data particles and less-relevant particles. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A transportation vehicle configured to determine a new pose of the vehicle using map matching, the vehicle comprising:
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multiple vehicle sensors; a satellite-positioning unit; and an on-board computer comprising; a processor; and a memory comprising; a lane-level map; and computer-executable instructions that, when executed by the processor, cause the processor to perform operations comprising; collecting measurements from the vehicle sensors; computing compute propagation of vehicle pose with respect to consecutive time instances; performing a curve-fitting process; performing a sub-routine of updating at least one observation model based on results of the curve-fitting process; performing a tracking sub-routine to update the vehicle pose in terms of data particles; and performing a particle filtering sub-routine based on the data particles to compute the new vehicle pose, the particle-filtering sub-routine employing a sampling technique for identifying, from amongst the data particles being of a first distribution, more-applicable data particles and less-relevant particles. - View Dependent Claims (15, 16, 17, 18)
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19. A tangible computer-readable storage device, for use in a transportation vehicle, comprising computer-executable instructions that, when executed by a processor, cause the processor to perform operations comprising:
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collecting measurements from the vehicle sensors; computing propagation of vehicle pose with respect to consecutive time instances; performing a curve-fitting process; performing a sub-routine of updating at least one observation model based on results of the curve-fitting process; performing, a tracking sub-routine to update the vehicle pose in terms of data particles; and performing, a particle-filtering sub-routine based on the data particles to compute the new vehicle pose, the particle-filtering sub-routine employing a sampling technique for identifying, from amongst the data particles being of a first distribution, more-applicable data particles and less-relevant particles. - View Dependent Claims (20)
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Specification