System and method for determining pose data for a vehicle
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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Abstract
Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.
53 Citations
20 Claims
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1. A method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A non-transitory computer-readable medium storing instructions that are executable by one or more computing devices, wherein executing the instructions causes the one or more computing devices to perform functions comprising:
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receiving, at a vehicle computer system for an autonomous vehicle, first pose data for the autonomous vehicle and first pose quality data 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. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A system, comprising:
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a first pose measurement system for an autonomous vehicle, comprising; a first inertial measurement unit (IMU); a first wheel speed sensor; a first Global Positioning System (GPS) receiver; and a first processor, wherein the first processor is configured to determine first pose data for the autonomous vehicle based on first sensor data from the first IMU, the first wheel speed sensor, and the first GPS receiver and configured to determine first pose data quality for the first pose data based on crosschecking the first sensor data; a second pose measurement system for an autonomous vehicle, comprising; a second IMU; a second wheel speed sensor; a second GPS receiver; and a second processor, wherein the second processor is configured to determine second pose data for the autonomous vehicle based on second sensor data from the second IMU, the second wheel speed sensor, and the second GPS receiver and configured to determine second pose data quality for the second pose data based on crosschecking the second sensor data; and a vehicle control system comprising a vehicle-control processor and a memory storing instructions executable by the vehicle-control processor to perform functions comprising; receiving the first pose data and the first pose data quality from the first processor via a first communication channel; receiving the second pose data and the second pose data quality from the second processor via a second communication channel; and controlling 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. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification