Vehicle localization
First Claim
Patent Images
1. A method for localizing a vehicle, the method comprising the steps of:
- detecting an object with a location sensor, the object disposed in a generally upward direction from the vehicle, approximately overhead of the vehicle, the object disposed in proximity to the vehicle, wherein the object is detected by emitting a signal via a beam with a defined edge via the location sensor in the generally upward direction approximately overhead of the vehicle, and receiving, via the location sensor, a return signal that is reflected from the object while the vehicle is travelling;
correlating the object via a processor with information from a map database, thereby generating a correlation; and
determining via the processor a geographic location of the vehicle based on the correlation, for augmenting data provided by a global positioning system (GPS);
wherein the step of determining the geographic location of the vehicle comprises;
determining a first indication of the geographic location of the vehicle based on data provided by the GPS, the first indication comprising a geographic region for the vehicle;
determining a second indication of the geographic location of the vehicle based on a refinement of the first indication based on the correlation between the detected overhead object and the map database, and based on a position of the detected overhead object within the geographic region; and
determining a third indication of the geographic location of the vehicle, the third indication comprising a further refinement of the second indication of the geographic location based on a measured velocity and direction of travel of the vehicle, as determined via measurements from one or more vehicle position or movement sensors, from a first point in which the object is detected overhead the vehicle and the vehicle is approximately directly underneath the object, to thereby provide the refined third indication while the vehicle is travelling from the first point that is approximately directly underneath the object to a second point that is approximately directly underneath a second object that is detected overhead the vehicle subsequent to the detection of the first object, wherein the one or more vehicle position or movement sensors are disposed onboard the vehicle and are configured to measure a position or movement of the vehicle.
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Abstract
Methods, systems, and vehicles are provided for localizing a vehicle. A sensor is configured to detect an object disposed in a generally upward direction from the vehicle while the vehicle is travelling. A processor is coupled to the sensor. The processor is configured to correlate the object with information from a map database, thereby generating a correlation, and determine a geographic location of the vehicle based on the correlation.
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Citations
17 Claims
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1. A method for localizing a vehicle, the method comprising the steps of:
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detecting an object with a location sensor, the object disposed in a generally upward direction from the vehicle, approximately overhead of the vehicle, the object disposed in proximity to the vehicle, wherein the object is detected by emitting a signal via a beam with a defined edge via the location sensor in the generally upward direction approximately overhead of the vehicle, and receiving, via the location sensor, a return signal that is reflected from the object while the vehicle is travelling; correlating the object via a processor with information from a map database, thereby generating a correlation; and determining via the processor a geographic location of the vehicle based on the correlation, for augmenting data provided by a global positioning system (GPS); wherein the step of determining the geographic location of the vehicle comprises; determining a first indication of the geographic location of the vehicle based on data provided by the GPS, the first indication comprising a geographic region for the vehicle; determining a second indication of the geographic location of the vehicle based on a refinement of the first indication based on the correlation between the detected overhead object and the map database, and based on a position of the detected overhead object within the geographic region; and determining a third indication of the geographic location of the vehicle, the third indication comprising a further refinement of the second indication of the geographic location based on a measured velocity and direction of travel of the vehicle, as determined via measurements from one or more vehicle position or movement sensors, from a first point in which the object is detected overhead the vehicle and the vehicle is approximately directly underneath the object, to thereby provide the refined third indication while the vehicle is travelling from the first point that is approximately directly underneath the object to a second point that is approximately directly underneath a second object that is detected overhead the vehicle subsequent to the detection of the first object, wherein the one or more vehicle position or movement sensors are disposed onboard the vehicle and are configured to measure a position or movement of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for localizing a vehicle, the method comprising the steps of:
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a location sensor configured to detect an object disposed proximate the vehicle in a generally upward direction from the vehicle, approximately overhead of the vehicle, by emitting a signal via a beam with a defined edge in the generally upward direction approximately overhead of the vehicle and receiving a return signal that is reflected from the object while the vehicle is travelling; a processor coupled to the location sensor and configured to; correlate the object with information from a map database, thereby generating a correlation; and determine a geographic location of the vehicle based on the correlation, for augmenting data provided by a global positioning system (GPS); and one or more vehicle position or movement sensors disposed onboard the vehicle and configured to measure a position or movement of the vehicle; wherein the processor is coupled to the one of more vehicle position or movement sensors and is configured to at least facilitate; determining a first indication of the geographic location of the vehicle based on data provided by the GPS, the first indication comprising a geographic region for the vehicle; determining a second indication of the geographic location of the vehicle based on a refinement of the first indication based on the correlation between the detected overhead object and the map database, and based on a position of the detected overhead object within the geographic region; and determining a third indication of the geographic location of the vehicle, the third indication comprising a further refinement of the second indication of the geographic location based on a measured velocity and direction of travel of the vehicle, as determined via measurements obtained from the one or more vehicle position or movement sensors, from a first point in which the object is detected overhead the vehicle and the vehicle is approximately directly underneath the object, to thereby provide the refined third indication while the vehicle is travelling from the first point that is approximately directly underneath the object to a second point that is approximately directly underneath a second object that is detected overhead the vehicle subsequent to the detection of the first object. - View Dependent Claims (13)
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14. A vehicle comprising:
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a body; a global positioning system (GPS); a drive system disposed within the body; and a localization system disposed within the body, the localization system comprising; a location sensor configured to detect an object disposed proximate the vehicle in a generally upward direction, approximately overhead of the vehicle, from the vehicle by emitting a signal via a beam with a defined edge in the generally upward direction approximately overhead of the vehicle and receiving a return signal that is reflected from the object while the vehicle is travelling; and a processor coupled to the sensor and configured to; correlate the object with information from a map database, thereby generating a correlation; and determine a geographic location of the vehicle based on the correlation, for augmenting data provided by a global positioning system (GPS); wherein; the localization system further comprises one or more vehicle position or movement sensors disposed onboard the vehicle and configured to measure a position or movement of the vehicle; and the processor is coupled to the one of more vehicle position or movement sensors and is configured to at least facilitate; determining a first indication of the geographic location of the vehicle based on data provided by the GPS, the first indication comprising a geographic region for the vehicle; determining a second indication of the geographic location of the vehicle based on a refinement of the first indication based on the correlation between the detected overhead object and the map database, and based on a position of the detected overhead object within the geographic region; and determining a third indication of the geographic location of the vehicle, the third indication comprising a further refinement of the second indication of the geographic location based on a measured velocity and direction of travel of the vehicle, as determined via measurements obtained from the one or more vehicle position or movement sensors, from a first point in which the object is detected overhead the vehicle and the vehicle is approximately directly underneath the object, to thereby provide the refined third indication while the vehicle is travelling from the first point that is approximately directly underneath the object to a second point that is approximately directly underneath a second object that is detected overhead the vehicle subsequent to the detection of the first object. - View Dependent Claims (15, 16, 17)
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Specification