Methods and apparatus for evaluating operation of a vehicle onboard navigation system using lateral offset data

• US 9,857,181 B2
• Filed: 08/11/2015
• Issued: 01/02/2018
• Est. Priority Date: 08/11/2015
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Song, Xiaofeng Frank, Zhang, Xian, Feldman, Dmitriy, Adam, Paul A.
• Primary Examiner(s): Mawari, Redhwan K
• Assistant Examiner(s): Torchinsky, Edward
• Application Number:
  US14/823,693
• Publication Number:
  US 20170045362A1
• Time in Patent Office: 875 Days
• Field of Search: None
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• 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 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A method for assessing operation of a navigation system onboard a vehicle is provided. The method determines a sensor-based lateral offset change using vehicle onboard sensor data; determines a second lateral offset change using navigation system data; computes a difference between the sensor-based lateral offset change and the second lateral offset change; performs secondary calculations using the difference to produce a result; and when the result is greater than a threshold error value, provides an error notification.

Claims

1. A method for assessing operation of a navigation system onboard a vehicle, the method comprising:

determining a sensor-based lateral offset change using vehicle onboard sensor data;

determining a second lateral offset change using navigation system data;

computing a difference between the sensor-based lateral offset change and the second lateral offset change;

performing secondary calculations using the difference to produce a result; and

when the result is greater than a threshold error value, providing an error notification;

wherein determining the sensor-based lateral offset change further comprises;

detecting a lane marker using a sensor onboard the vehicle;

determining a first relative offset between the sensor and the lane marker, the vehicle onboard sensor data comprising the first relative offset;

determining a second relative offset between the sensor and the lane marker, after a designated period of time, the vehicle onboard sensor data comprising the second relative offset; and

computing a change between the first relative offset and the second relative offset, wherein the sensor-based lateral offset change comprises the change.

2. The method of claim 1, wherein determining the second lateral offset change using navigation system data further comprises:

obtaining a first position for the vehicle from the navigation system, the navigation system data comprising the first position;

associating the first position to a lane marker using a map database, wherein map data associated with the lane marker is stored in the map database, and wherein the map database is accessible onboard the vehicle;

determining a first lateral offset, based on the map data associated with the lane marker;

obtaining a second position for the vehicle from the navigation system, after a designated period of time, the navigation system data comprising the second position;

associating the second position to the lane marker using the map database;

determining a second lateral offset, based on the map data associated with the landmark; and

computing a change between the first lateral offset and the second lateral offset, wherein the second lateral offset change comprises the change.

3. The method of claim 1, wherein performing the secondary calculations comprises calculating a mean value of the difference, the result comprising the mean value;

and

wherein, when the result is greater than an allowable mean value, the operation of the navigation system is outside of acceptable error limits, the threshold error value comprising the allowable mean value.

4. The method of claim 1, wherein performing the secondary calculations comprises calculating a variance value of the difference, the result comprising the variance value;

and

wherein, when the result is greater than an allowable variance value, the operation of the navigation system is outside of acceptable error limits, the threshold error value comprising the allowable variance value.

5. The method of claim 1, wherein, when the result is greater than the threshold error value, the method further comprises deactivating an autonomous driving application onboard the vehicle.

6. A system for assessing operation of a navigation system onboard a vehicle, the system comprising:

system memory;

a navigation system, configured to detect a plurality of vehicle positions;

at least one vehicle sensor, configured to obtain first lateral offset data associating the vehicle to a lane marker; and

at least one processor, communicatively coupled to the system memory, the navigation system, and the at least one vehicle sensor, the at least one processor configured to execute processing logic configured to;

compute second lateral offset data based on the plurality of vehicle positions detected by the navigation system;

calculate a difference between the first lateral offset data and the second lateral offset data; and

determine whether the navigation system is operating within allowable error limits, based on the difference.

7. The system of claim 6, wherein the at least one vehicle sensor is further configured to:

detect a landmark;

determine a first relative offset between the at least one vehicle sensor and the landmark;

determine a second relative offset between the at least one vehicle sensor and the landmark, after a designated period of time; and

compute a change between the first relative offset and the second relative offset, wherein the first lateral offset data comprises the change.

8. The system of claim 6, wherein the processing logic is further configured to:

obtain a first position for the vehicle from the navigation system, the plurality of vehicle positions comprising the first position;

associating the first position to a landmark using a map database, wherein map data associated with the landmark is located in the map database, and wherein the map database is accessible onboard the vehicle;

determining a first lateral offset, based on the map data associated with the landmark;

obtaining a second position for the vehicle from the navigation system, after a designated period of time, the plurality of vehicle positions comprising the second position;

associating the second position to the landmark using the map database;

determining a second lateral offset, based on the map data associated with the landmark; and

computing a change between the first lateral offset and the second lateral offset, wherein the second lateral offset data comprises the change.

9. The system of claim 8, further comprising:

a communication device, configured to access the map database via a wireless communication connection at the vehicle.

10. The system of claim 8, wherein the system memory is configured to store the map database;

and

wherein the processing logic is further configured to access the map database to compute the second lateral offset data.

11. The system of claim 6, wherein the at least one vehicle sensor comprises a camera system onboard the vehicle.

12. The system of claim 6, wherein the at least one vehicle sensor comprises one or more lidar sensors onboard the vehicle.

13. The system of claim 6, wherein the at least one vehicle sensor comprises one or more radar sensors onboard the vehicle.

14. A non-transitory, computer-readable medium containing instructions thereon, which, when executed by a processor, perform a method comprising:

calculating a difference between a first lateral vehicle offset to a second lateral vehicle offset, wherein the first lateral vehicle offset is provided by a vehicle sensor, and wherein the second lateral vehicle offset is based on data obtained from a navigation system onboard a vehicle, by;

obtaining a first position for the vehicle from the navigation system;

associating the first position to a landmark using a map database, wherein map data associated with the landmark is located in the map database, and wherein the map database is accessible onboard the vehicle;

determining a first lateral offset, based on the map data associated with the landmark;

obtaining a second position for the vehicle from the navigation system, after a designated period of time;

associating the second position to the landmark using the map database;

determining a second lateral offset, based on the map data associated with the landmark; and

computing a change between the first lateral offset and the second lateral offset, wherein the second lateral vehicle offset comprises the change; and

determining whether the navigation system is functioning within a predefined error bound, based on the difference.

15. The non-transitory, computer-readable medium of claim 14, wherein the method further comprises:

detecting a landmark using a sensor onboard the vehicle;

determining a first relative offset between the sensor and the landmark;

determining a second relative offset between the sensor and the landmark, after a designated period of time; and

computing a change between the first relative offset and the second relative offset, wherein the first lateral vehicle offset comprises the change.

16. The non-transitory, computer-readable medium of claim 14, wherein the method further comprises:

performing secondary calculations using the difference to produce a result; and

when the result is greater than a threshold error value, determining that the navigation system is not functioning within the predefined error bound.

17. The non-transitory, computer-readable medium of claim 14, wherein the method further comprises:

performing secondary calculations using the difference to produce a result; and

when the result is greater than a threshold error value, providing an error notification in the vehicle.

18. The non-transitory, computer-readable medium of claim 14, wherein the method further comprises:

performing secondary calculations using the difference to produce a result; and

when the result is greater than a threshold error value, deactivating an autonomous driving application of the vehicle.