Vehicle navigation

• US 9,122,278 B2
• Filed: 05/22/2012
• Issued: 09/01/2015
• Est. Priority Date: 05/24/2011
• Status: Active Grant

• Current Assignee: BAE Systems Plc
• Original Assignee: BAE Systems Plc
• Inventors: Smith, Christopher Andrew, Hester, Geoffrey James
• Primary Examiner(s): Mawari, Redhwan k
• Application Number:
  US14/122,147
• Publication Number:
  US 20140136046A1
• Time in Patent Office: 1,197 Days
• Field of Search: 701/408, 701/23, 701/301, 701/26, 701/514, 701/2, 701/25, 701/300
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0261 using magnetic plots
• 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method and apparatus for establishing a route for an autonomous vehicle, the method including: determining localization information for the vehicle with respect to a first frame of reference that is fixed with respect to a current state of the vehicle; determining localization information for the vehicle with respect to a second frame of reference that is fixed with respect to an entity (e.g. Earth), the vehicle being moveable with respect to the entity; establishing a route for the vehicle with respect to the second frame using the localization information for the vehicle with respect to the second frame; transforming the route from the second frame to the first frame; and determining a route for the vehicle with respect to the first frame using the localization information for the vehicle with respect to the first frame and the transformed route.

Claims

1. A method for establishing a route for an autonomous vehicle and controlling the vehicle, the method comprising:

determining localisation information for the vehicle with respect to a first frame of reference by performing a perception process that includes receiving measurements at a measurement interval to localise the vehicle with respect to the first frame of reference, the first frame of reference being a frame of reference that is substantially fixed with respect to a current state of the vehicle;

determining localisation information for the vehicle with respect to a second frame of reference by performing a perception process that includes receiving signals at a signal interval rate to localise the vehicle with respect to the second frame of reference, the second frame of reference being a frame of reference that is substantially fixed with respect to an entity, the entity being different to the vehicle, and the vehicle being moveable with respect to the entity;

establishing a route for the vehicle with respect to the second frame of reference using the localisation information for the vehicle with respect to the second frame of reference;

performing a transformation of the route from the second frame of reference to the first frame of reference, thereby providing a transformed route;

determining a control route for the vehicle with respect to the first frame of reference using the localisation information for the vehicle with respect to the first frame of reference and the transformed route; and

controlling the vehicle to follow the control route as determined from the signal that has been most recently received to localise the vehicle with respect to the second frame of reference;

wherein the measurement interval is less than the signal interval.

2. A method according to claim 1, wherein the step of determining localisation information for the vehicle with respect to the first frame of reference comprises:

measuring, using one or more sensors, values of a parameter within the vehicle'"'"'s local environment; and

using the measured values for performing a perception process to localise the vehicle with respect to the first frame of reference.

3. A method according to claim 2, wherein the one or more sensors comprise at least one of a visible light detecting camera and a Light Detection and Ranging sensor.

4. A method according to claim 2, wherein the step of determining localisation information for the vehicle with respect to the first frame of reference comprises:

performing an object detection process using the measured parameter values, and the localisation information for the vehicle with respect to the first frame of reference includes information relating to objects detected within a local environment of the vehicle.

5. A method according to claim 4, wherein the determining of the route comprises:

selecting a route such that, were the vehicle to follow the determined route, detected objects would be avoided.

6. A method according to claim 1, wherein the entity is the Earth.

7. A method according to claim 6, wherein the step of determining localisation information for the vehicle with respect to the second frame of reference comprises:

receiving a signal from a further entity, the further entity being remote from the vehicle, and the further entity having a known and/or substantially fixed position with respect to the Earth.

8. A method according to claim 7, wherein the further entity is a Global Positioning System satellite.

9. A method according to claim 1, comprising:

specifying a task for the vehicle, wherein the established route is such that, were the vehicle to follow the established route, the task would be completed.

10. A method according to claim 1, wherein the vehicle is a land-based vehicle.

14. A method according to claim 1, wherein the step of determining localisation information for the vehicle with respect to the first frame of reference comprises:

measuring, using one or more sensors, values of a parameter within the vehicle'"'"'s local environment; and

using the measured values for performing a perception process to localise the vehicle with respect to the first frame of reference.

15. A method according to claim 14, wherein the entity is the Earth.

16. A method according to claim 15, wherein the step of determining localisation information for the vehicle with respect to the second frame of reference comprises:

receiving a signal from a further entity, the further entity being remote from the vehicle, and the further entity having a known and/or substantially fixed position with respect to the Earth.

17. A method according to claim 16, wherein the further entity is a Global Positioning System satellite.

18. A method according to claim 17, comprising:

specifying a task for the vehicle, wherein the established route is such that, were the vehicle to follow the established route, the task would be completed.

11. Apparatus for establishing a route for an autonomous vehicle and for controlling the vehicle, the apparatus comprising one or more processors programmed to:

determine localisation information for the vehicle with respect to a first frame of reference by performing a perception process that includes receiving measurements at a measurement interval to localise the vehicle with respect to the first frame of reference, the first frame of reference being a frame of reference that is substantially fixed with respect to a current state of the vehicle;

determine localisation information for the vehicle with respect to a second frame of reference by performing a perception process that includes receiving signals at a signal interval to localise the vehicle with respect to the second frame of reference, the second frame of reference being a frame of reference that is substantially fixed with respect to an entity, the entity being different to the vehicle, and the vehicle being moveable with respect to the entity;

establish a route for the vehicle with respect to the second frame of reference using the localisation information for the vehicle with respect to the second frame of reference;

perform a transformation of the route from the second frame of reference to the first frame of reference, thereby providing a transformed route;

determine a control route for the vehicle with respect to the first frame of reference using the localisation information for the vehicle with respect to the first frame of reference and the transformed route; and

control the vehicle to follow the control route as determined from the signal that has been most recently received to localise the vehicle with respect to the second frame of reference;

wherein the measurement interval is less than the signal interval.

12. An apparatus according to claim 11 further comprising the vehicle.

13. A program or plurality of programs stored on a non-transitory machine readable storage medium, such that when executed by a computer system or one or more processors it/they cause the computer system or the one or more processors to operate in accordance with a method that comprises:

determining localisation information for the vehicle with respect to a first frame of reference by performing a perception process that includes receiving measurements at a measurement interval to localise the vehicle with respect to the first frame of reference, the first frame of reference being a frame of reference that is substantially fixed with respect to a current state of the vehicle;

determining localisation information for the vehicle with respect to a second frame of reference by performing a perception process that includes receiving signals at a signal interval rate to localise the vehicle with respect to the second frame of reference, the second frame of reference being a frame of reference that is substantially fixed with respect to an entity, the entity being different to the vehicle, and the vehicle being moveable with respect to the entity;

establishing a route for the vehicle with respect to the second frame of reference using the localisation information for the vehicle with respect to the second frame of reference;

performing a transformation of the route from the second frame of reference to the first frame of reference, thereby providing a transformed route;

determining a control route for the vehicle with respect to the first frame of reference using the localisation information for the vehicle with respect to the first frame of reference and the transformed route; and

controlling the vehicle to follow the control route as determined from the signal that has been most recently received to localise the vehicle with respect to the second frame of reference;

wherein the measurement interval is less than the signal interval.