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System and method for determining pose data for a vehicle

  • US 9,915,947 B1
  • Filed: 02/26/2016
  • Issued: 03/13/2018
  • Est. Priority Date: 02/26/2016
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving, at a vehicle computer system for an autonomous vehicle, first pose data for the autonomous vehicle and first pose data quality for the first pose data from a first processor, wherein the first processor determines the first pose data based on first sensor data from a first inertial measurement unit (IMU), a first wheel speed sensor, and a first Global Positioning System (GPS) receiver and determines the first pose data quality based on crosschecking the first sensor data;

    receiving, at the vehicle computer system for the autonomous vehicle, second pose data for the autonomous vehicle and second pose data quality for the second pose data from a second processor, wherein the second processor determines the second pose data based on second sensor data from a second IMU, a second wheel speed sensor, and a second GPS receiver and determines the second pose data quality based on crosschecking the second sensor data; and

    controlling, by the vehicle computer system, motion of the autonomous vehicle based on the first pose data quality, the second pose data quality, and at least one of the first pose data or the second pose data.

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