Position error estimate and implementation for autonomous driving

• US 9,802,620 B2
• Filed: 12/18/2015
• Issued: 10/31/2017
• Est. Priority Date: 12/18/2015
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Munasinghe, Chalan, Hay, Curtis
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US14/975,325
• Publication Number:
  US 20170174223A1
• Time in Patent Office: 683 Days
• Field of Search: None
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2400/00 Indexing codes relating to detected, measured or calculated conditions or factors
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/182 Selecting between different operative modes, e.g. comfort and performance modes
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network

Abstract

Methods, systems, and vehicles are provided for controlling an automated system of a vehicle. In one example, the vehicle includes one or more automated driving systems, a plurality of input systems, and a processor. The plurality of input systems are used in connection with the vehicle, and are configured to provide inputs. The processor is coupled to the plurality of input systems, and is configured to at least facilitate: estimating a current position of the vehicle using the inputs from the plurality of input systems generating a current position estimate, estimating an error for the current position estimate, the error comprising an expected error radius for the current position estimate, and controlling the one or more automated driving systems using the current position estimate and the expected error radius.

Claims

1. A method for controlling an automated system of a vehicle, the method comprising:

obtaining inputs from a plurality of different input systems used in connection with the vehicle;

estimating a current position of the vehicle using the inputs from each of the plurality of different input systems, generating a current position estimate based on the estimating;

estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the aggregate expected error radius is estimated by;

estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system; and

aggregating the respective error measures for each of the plurality of different input systems;

to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate; and

controlling the automated system using the current position estimate and the aggregate expected error radius.

2. The method of claim 1, wherein:

the step of obtaining the inputs comprises obtaining inputs from a satellite-based positioning system, a cellular communication system, and one or more vehicle sensors; and

the step of estimating the current position comprises estimating the current position of the vehicle using inputs from the satellite-based positioning system, the cellular communication system, and the one or more vehicle sensors.

3. The method of claim 1, wherein:

the step of obtaining the inputs comprises obtaining satellite position inputs from a global positioning system (GPS) or global orbiting navigation satellite system (GLONASS), obtaining satellite correction data from a cellular communication system, and vehicle inertial measurement data provided via an inertial measurement sensor of the vehicle; and

the step of estimating the current position comprises estimating the current position of the vehicle using the satellite position inputs from the GPS or GLONASS system, the satellite correction data from the cellular communication system, and the vehicle inertial measurement data from the inertial measurement sensor of the vehicle.

4. The method of claim 3, wherein:

the step of estimating the respective error measure for each of the plurality of different input systems comprises;

obtaining a first error estimate from the global positioning system (GPS) or global orbiting navigation satellite system (GLONASS);

obtaining a second error estimate from the cellular communication system; and

obtaining a third error estimate from the inertial measurement sensor; and

the step of aggregating the respective error measures for each of the plurality of different input systems comprises estimating the aggregate expected error radius using the first error estimate, the second error estimate, and the third error estimate.

5. The method of claim 1, further comprising:

retrieving a predetermined error threshold from memory;

wherein the step of controlling the automated system comprises;

operating the automated system in an automatic mode, without driver intervention, if the aggregate expected error radius is less than the predetermined error threshold; and

operating the automated system in a manual mode, without driver intervention, if the aggregate expected error radius is greater than the predetermined error threshold.

6. The method of claim 5, wherein:

the automated system comprises a steering system of the vehicle;

the step of operating the automated system in the automated mode comprises operating the steering system in the automated mode if the aggregate expected error radius is less than the predetermined error threshold; and

the step of operating the automated system in the manual mode comprises operating the steering system in the manual mode if the aggregate expected error radius is greater than the predetermined error threshold.

7. The method of claim 5, wherein:

the automated system comprises a braking system of the vehicle;

the step of operating the automated system in the automated mode comprises operating the braking system in the automated mode if the aggregate expected error radius is less than the predetermined error threshold; and

the step of operating the automated system in the manual mode comprises operating the braking system in the manual mode if the aggregate expected error radius is greater than the predetermined error threshold.

8. A system for controlling an automated system of a vehicle, the system comprising:

a plurality of different input systems used in connection with the vehicle, the plurality of different input systems each configured to provide respective inputs; and

a processor coupled to the plurality of different input systems, the processor configured to at least facilitate;

estimating a current position of the vehicle using the respective inputs from each of the plurality of different input systems, generating a current position estimate based on the estimating;

estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the aggregate expected error radius is estimated by;

estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system; and

aggregating the respective error measures for each of the plurality of different input systems;

to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate; and

controlling the automated system using the current position estimate and the aggregate expected error radius.

9. The system of claim 8, wherein:

the plurality of different input systems comprises a satellite-based positioning system, a cellular communication system, and one or more vehicle sensors; and

the processor is further configured to at least facilitate;

obtaining inputs from the satellite-based positioning system, the cellular communication system, and the one or more vehicle sensors; and

estimating the current position of the vehicle using inputs from the satellite-based positioning system, the cellular communication system, and the one or more vehicle sensors.

10. The system of claim 8, wherein the processor is further configured to at least facilitate:

obtaining satellite position inputs from a global positioning system (GPS) or global orbiting navigation satellite system (GLONASS), obtaining satellite correction data from a cellular communication system, and vehicle inertial measurement data provided via an inertial measurement sensor of the vehicle; and

estimating the current position of the vehicle using the satellite position inputs from the GPS or GLONASS system, the satellite correction data from the cellular communication system, and the vehicle inertial measurement data from the inertial measurement sensor of the vehicle.

11. The system of claim 10, further comprising:

a memory;

wherein the processor is configured to at least facilitate;

retrieving a predetermined error threshold from the memory;

operating the automated system in an automatic mode, without driver intervention, if the aggregate expected error radius is less than the predetermined error threshold; and

operating the automated system in a manual mode, without driver intervention, if the aggregate expected error radius is greater than the predetermined error threshold.

12. The system of claim 11, wherein:

the automated system comprises a steering system of the vehicle; and

the processor is configured to at least facilitate;

operating the steering system in the automated mode if the aggregate expected error radius is less than the predetermined error threshold; and

operating the steering system in the manual mode if the aggregate expected error radius is greater than the predetermined error threshold.

13. A vehicle comprising:

one or more automated driving systems;

a plurality of different input systems used in connection with the vehicle, the plurality of different input systems configured to provide inputs; and

a processor coupled to the plurality of different input systems, the processor configured to at least facilitate;

estimating a current position of the vehicle using the inputs from each of the plurality of different input systems generating a current position estimate based on the estimating;

estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the expected error radius is estimated by;

estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system; and

aggregating the respective error measures for each of the plurality of different input systems;

to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate; and

controlling the one or more automated driving systems using the current position estimate and the aggregate expected error radius.

14. The vehicle of claim 13, wherein:

the plurality of different input systems comprises a satellite-based positioning system, a cellular communication system, and one or more vehicle sensors; and

the processor is further configured to at least facilitate;

obtaining inputs from the satellite-based positioning system, the cellular communication system, and the one or more vehicle sensors; and

estimating the current position of the vehicle using inputs from the satellite-based positioning system, the cellular communication system, and the one or more vehicle sensors.

15. The vehicle of claim 13, further comprising:

a memory;

wherein the processor is configured to at least facilitate;

retrieving a predetermined error threshold from the memory;

operating the one or more automated driving systems in an automatic mode, without driver intervention, if the aggregate expected error radius is less than the predetermined error threshold; and

operating the one or more automated driving systems in a manual mode, without driver intervention, if the aggregate expected error radius is greater than the predetermined error threshold.

16. The vehicle of claim 15, wherein:

the one or more automated driving systems comprises a steering system of the vehicle; and

the processor is configured to at least facilitate;

operating the steering system in the automated mode if the aggregate expected error radius is less than the predetermined error threshold; and

operating the steering system in the manual mode if the aggregate expected error radius is greater than the predetermined error threshold.

17. The vehicle of claim 15, wherein:

the one or more automated driving systems comprises a braking system of the vehicle; and

the processor is configured to at least facilitate;

operating the braking system in the automated mode if the aggregate expected error radius is less than the predetermined error threshold; and

operating the braking system in the manual mode if the aggregate expected error radius is greater than the predetermined error threshold.