System and method for sensor based environmental model construction

• US 9,140,792 B2
• Filed: 06/01/2011
• Issued: 09/22/2015
• Est. Priority Date: 06/01/2011
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Zeng, Shuqing
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): Hilgendorf, Dale W
• Application Number:
  US13/151,064
• Publication Number:
  US 20120310516A1
• Time in Patent Office: 1,574 Days
• Field of Search: 701/411, 701/412, 701/426, 701/445, 701/450, 701/468, 701/469, 701/495, 701/514, 701/519, 701/532
• US Class Current: 1/1
• CPC Class Codes: G01C 21/32 Structuring or formatting of map data
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/46 the supplementary measurement being of a radio-wave signal type

Abstract

A method and system may determine the estimated location of a vehicle, measure a location of an object relative to the vehicle using a sensor associated with the vehicle, and determine an updated vehicle location using the measured relative object location in conjunction with previously stored object locations. The estimated vehicle location may be determined using a system different from that associated with the sensor, for example a GPS system. The object location may be measured relative to a sub-map corresponding to the location of the vehicle.

Claims

1. A method comprising:

determining an estimated location of a vehicle;

measuring a location of an object relative to the vehicle using a sensor associated with the vehicle, wherein the measured relative object location includes the object'"'"'s angle from the vehicle;

determining an updated vehicle location corresponding to a current sub-map using the measured relative object location in conjunction with previously stored object locations, wherein each of the previously stored object locations is measured relative to an origin of a sub-map, wherein the sub-map overlaps at least one adjacent sub-map by a common landmark;

correlating the origin of the current sub-map and the origin of at least one adjacent sub-map using the common landmark as a reference point; and

updating a location of another object in the adjacent sub-map based on the correlation of the current sub-map and the adjacent sub-map.

2. The method of claim 1, wherein the estimated location is determined using a system different from that associated with the sensor.

3. The method of claim 1, comprising determining, using the estimated location of the vehicle, which of a plurality of sub-maps the vehicle location corresponds to.

4. The method of claim 1, comprising determining the updated vehicle location by determining the location of the vehicle relative to the previously stored object location.

5. The method of claim 1, comprising updating an object location using the relative object location in conjunction with the previously stored object locations.

6. The method of claim 1, wherein a least square mathematical approach is used to update the estimated vehicle location.

7. The method of claim 1, wherein the location of the vehicle is determined relative to a global environmental map divided into a plurality of sub-maps.

8. A system comprising:

a database storing previously collected information on the location of objects, wherein each of the object locations is determined relative to an origin of a sub-map, wherein the sub-map overlaps at least one adjacent sub-map by a common landmark and wherein the origin of the sub-map and the origin of at least one adjacent sub-map are correlated using the common landmark as a reference point;

a vehicle location detection system;

a sensor;

a controller to;

determine an estimated location of a vehicle from the vehicle location detection system;

measure the location of an object relative to the vehicle using the sensor, wherein the measured relative object location includes the object'"'"'s angle from the vehicle;

determine an updated vehicle location corresponding to a current sub-map using the measured relative object location in conjunction with the previously stored object locations; and

update a location of another object in the adjacent sub-map based on the correlation of the current sub-map and the adjacent sub-map.

9. The system of claim 8, wherein the controller is to determine the estimated location of the vehicle using a system different from that associated with the sensor.

10. The system of claim 8, wherein the controller is to determine, using the estimated location of the vehicle, which of a plurality of sub-maps the vehicle location corresponds to.

11. The system of claim 8, wherein the controller is to determine the updated vehicle location by determining the location of the vehicle relative to the previously stored object location.

12. The system of claim 8, wherein the controller is to update an object location using the relative object location in conjunction with the previously stored object locations.

13. The system of claim 8, wherein the controller is to determine the updated vehicle location using a least square mathematical approach.

14. The system of claim 8, wherein the controller is to determine the location of the vehicle relative to a global environmental map divided into a plurality of sub-maps.

15. A method comprising:

in a vehicle, evaluating a geographic position of a landmark relative to a position of the vehicle using a sensor associated with the vehicle, wherein the landmark position is evaluated relative to an origin of a current sub-map, the current sub-map overlapping at least one adjacent sub-map by a common landmark, wherein the origin of the current sub-map and the origin of at least one adjacent sub-map are correlated using the common landmark as a reference point;

calculating a geographic position of the vehicle using the evaluated landmark positionz and

updating a location of an object in the adjacent sub-map based on the correlation of the current sub-map and the adjacent sub-map.

16. The method of claim 15, comprising evaluating, using the calculated position of the vehicle, which of a plurality of sub-maps the vehicle position corresponds to.

17. The method of claim 15, comprising calculating the geographic position of the vehicle by calculating the position of the vehicle relative to the evaluated landmark position.

18. The method of claim 15, comprising updating a landmark position using the evaluated landmark position in conjunction with a plurality of previously detected landmark positions.

19. The method of claim 15, wherein a least square mathematical approach is used to calculate the position of the vehicle.

20. The method of claim 15, wherein the position of the vehicle is calculated in reference to a global environmental map divided into a plurality of sub-maps.