Autonomous vehicle with improved simultaneous localization and mapping function

• US 10,191,488 B2
• Filed: 09/19/2016
• Issued: 01/29/2019
• Est. Priority Date: 10/15/2015
• Status: Active Grant

• Current Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Original Assignee: Nokia Research Institute Europe GmbH
• Inventors: Franzius, Mathias, Einecke, Nils
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US15/268,752
• Publication Number:
  US 20170108867A1
• Time in Patent Office: 862 Days
• Field of Search: 701 25, 700253, 901 46- 47, 901 50, 356614
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

An autonomous vehicle comprises an environment sensing means for sensing an environment of the autonomous vehicle, and a computing unit configured to perform a mapping function and a localization function. The mapping function is based upon signals supplied from the environment sensing means to build a map. The localization function localizes the autonomous vehicle within the map and generates localization information. The autonomous vehicle further comprises boundary distance sensing means configured to generate a distance signal correlated to a distance between the autonomous vehicle and boundary indication means. The computing unit is configured to receive the distance signal and to perform the mapping function or the localization function based upon a signal from the environment sensing means and the distance signal from the boundary distance sensing means. The system also comprises a boundary wire indicating a border of an area in which autonomous driving of the vehicle can be performed.

Claims

1. An autonomous vehicle, comprising:

driving means,

at least one environment sensing means for sensing an environment of the autonomous vehicle, and

a computing unit configured to perform a mapping function on the basis of a sensor signal supplied from the at least one environment sensing means to build up a map and a localization function configured to localize the autonomous vehicle within the map and generate respective localization information,

the autonomous vehicle further comprising a boundary wire sensor configured to generate a distance signal based on a determined signal strength of a boundary wire signal received from a boundary wire, wherein the distance signal is correlated to a distance between the autonomous vehicle and the boundary wire,

wherein the computing unit is configured to receive the distance signal, to perform the mapping function on the basis of the sensor signal and the distance signal by setting the distance signal as a stable reference when a map update is performed by the computing unit on the basis of the sensor signal, and to perform the localization function on the basis of the sensor signal and the determined signal strength by assigning the determined signal strength to one of areas or zones of equal signal strength within the map.

2. The autonomous vehicle according to claim 1, wherein

the autonomous vehicle is an autonomous gardening device, in particular a lawn mower.

3. A system comprising:

an autonomous vehicle according to claim 1, and

the boundary wire indicating a border of an entire area in which autonomous driving of the autonomous vehicle shall be performed.

4. The autonomous vehicle according to claim 1, wherein

the autonomous vehicle further comprises a charging station sensor, which is an electromagnetic field sensor.

5. The autonomous vehicle according to claim 1, wherein

the at least one environment sensing means comprises a bump sensor, a sonar sensor, an accelerometer, a compass sensor, a camera, or a stereo camera.

6. The autonomous vehicle according to claim 1, wherein

the autonomous vehicle comprises a control unit for generating control signals for the driving means,

wherein the control unit is configured to generate the control signals on the basis of the map and the localization information such that the autonomous vehicle follows the most direct path that the autonomous vehicle is able to follow towards a charging station for the autonomous vehicle.

7. The autonomous vehicle according to claim 1, wherein

the computing unit is configured to analyze how long the autonomous vehicle stays in different segments of an entire environment area represented by the map.

8. The autonomous vehicle according to claim 7, wherein

the autonomous vehicle comprises a control unit for generating control signals for the driving means,

wherein the control unit is configured to generate the control signals on the basis of the map, the localization information, and the analysis result such that the autonomous vehicle follows the most direct path that the autonomous vehicle is able to follow towards a segment for which insufficient stay times are recognized.

9. The autonomous vehicle according to claim 1, wherein

the localization information includes position information and heading orientation information.

10. The autonomous vehicle according to claim 9, wherein

the computing unit is configured to estimate the heading position on the basis of signals from at least two electromagnetic field sensors.

11. The system according to claim 3, wherein

the system further comprises a charging station for charging an energy storage of the autonomous vehicle.