Vehicle localization

• US 9,453,737 B2
• Filed: 10/28/2011
• Issued: 09/27/2016
• Est. Priority Date: 10/28/2011
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Nickolaou, James N., Gandhi, Daniel, Feldman, Dmitriy
• Primary Examiner(s): Hulka, James
• Application Number:
  US13/284,500
• Publication Number:
  US 20130107669A1
• Time in Patent Office: 1,796 Days
• Field of Search: 367/125
• US Class Current: 1/1
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 5/02521 using a radio-map

Abstract

Methods, systems, and vehicles are provided for localizing a vehicle. A sensor is configured to detect an object disposed in a generally upward direction from the vehicle while the vehicle is travelling. A processor is coupled to the sensor. The processor is configured to correlate the object with information from a map database, thereby generating a correlation, and determine a geographic location of the vehicle based on the correlation.

Claims

1. A method for localizing a vehicle, the method comprising the steps of:

detecting an object with a location sensor, the object disposed in a generally upward direction from the vehicle, approximately overhead of the vehicle, the object disposed in proximity to the vehicle, wherein the object is detected by emitting a signal via a beam with a defined edge via the location sensor in the generally upward direction approximately overhead of the vehicle, and receiving, via the location sensor, a return signal that is reflected from the object while the vehicle is travelling;

correlating the object via a processor with information from a map database, thereby generating a correlation; and

determining via the processor a geographic location of the vehicle based on the correlation, for augmenting data provided by a global positioning system (GPS);

wherein the step of determining the geographic location of the vehicle comprises;

determining a first indication of the geographic location of the vehicle based on data provided by the GPS, the first indication comprising a geographic region for the vehicle;

determining a second indication of the geographic location of the vehicle based on a refinement of the first indication based on the correlation between the detected overhead object and the map database, and based on a position of the detected overhead object within the geographic region; and

determining a third indication of the geographic location of the vehicle, the third indication comprising a further refinement of the second indication of the geographic location based on a measured velocity and direction of travel of the vehicle, as determined via measurements from one or more vehicle position or movement sensors, from a first point in which the object is detected overhead the vehicle and the vehicle is approximately directly underneath the object, to thereby provide the refined third indication while the vehicle is travelling from the first point that is approximately directly underneath the object to a second point that is approximately directly underneath a second object that is detected overhead the vehicle subsequent to the detection of the first object, wherein the one or more vehicle position or movement sensors are disposed onboard the vehicle and are configured to measure a position or movement of the vehicle.

2. The method of claim 1, further comprising the steps of:

aiming the location sensor in a direction that is generally upward from the vehicle and approximately overhead of the vehicle, approximately ninety degrees from a direction of travel of the vehicle;

wherein the step of detecting the object comprises the step of detecting the object via the location sensor by emitting the signal via the location sensor toward the object in the direction that is generally upward from the vehicle and approximately overhead of the vehicle, approximately ninety degrees from the direction of travel of the vehicle and receiving the return signal from the object from the direction that is generally upward from the vehicle and approximately overhead of the vehicle approximately ninety degrees from the direction of travel of the vehicle while the vehicle is travelling.

3. The method of claim 1, wherein the one or more vehicle position or movement sensors are selected from the group consisting of:

speed sensors, compasses, steering wheel angle sensors, and yaw sensors.

4. The method of claim 1, wherein the step of correlating the object with the information from the map database comprises the steps of:

identifying a geographic region in which the vehicle is travelling on the map database; and

identifying the object within the geographic region on the map database.

5. The method of claim 1, wherein:

the step of detecting the object comprises detecting an object that is obstructing use of the GPS for the vehicle by emitting a signal via the location sensor in the generally upward direction approximately overhead of the vehicle and receiving, via the location sensor, a return signal that is reflected from the object while the objected is obstructed use of the GPS for the vehicle while the vehicle is travelling; and

the method further comprises using the geographic location as determined using the detected object to augment the GPS when the GPS is obstructed by the object while the vehicle is traveling.

6. The method of claim 1, further comprising the step of:

obtaining a first indication of a location of the vehicle via the GPS, wherein;

the step of correlating the object comprises the step of identifying the object proximate the first indication on the map database, thereby generating an identification of the object; and

the step of determining the geographic location comprises the step of determining a second indication of the location of the vehicle based on the identification of the object.

7. The method of claim 6, further comprising the steps of:

obtaining data pertaining to operation of the vehicle from one or more vehicle sensors;

determining a measure of movement of the vehicle after the detecting of the object, using the data; and

determining a third indication of the geographic location of the vehicle based on the second indication and the measure of movement.

8. The method of claim 1, wherein:

the step of detecting the object comprises detection an object that is obstructing use of the GPS for the vehicle by emitting a signal via the location sensor in the generally upward direction approximately overhead of the vehicle and receiving, via the location sensor, a return signal that is reflected from the object while the objected is obstructed use of the GPS for the vehicle while the vehicle is travelling; and

the method further comprises using the detected object in place of the GPS when the GPS is obstructed by the object while the vehicle is travelling.

9. The method of claim 1, wherein the location sensor provides a beam with an approximately vertical edge for detecting the object.

10. The method of claim 1, wherein the location sensor is selected from the group consisting of a laser, an ultrasonic sensor, and a camera.

11. The method of claim 1, wherein the location sensor comprises a laser.

12. A system for localizing a vehicle, the method comprising the steps of:

a location sensor configured to detect an object disposed proximate the vehicle in a generally upward direction from the vehicle, approximately overhead of the vehicle, by emitting a signal via a beam with a defined edge in the generally upward direction approximately overhead of the vehicle and receiving a return signal that is reflected from the object while the vehicle is travelling;

a processor coupled to the location sensor and configured to;

correlate the object with information from a map database, thereby generating a correlation; and

determine a geographic location of the vehicle based on the correlation, for augmenting data provided by a global positioning system (GPS); and

one or more vehicle position or movement sensors disposed onboard the vehicle and configured to measure a position or movement of the vehicle;

wherein the processor is coupled to the one of more vehicle position or movement sensors and is configured to at least facilitate;

determining a first indication of the geographic location of the vehicle based on data provided by the GPS, the first indication comprising a geographic region for the vehicle;

determining a second indication of the geographic location of the vehicle based on a refinement of the first indication based on the correlation between the detected overhead object and the map database, and based on a position of the detected overhead object within the geographic region; and

determining a third indication of the geographic location of the vehicle, the third indication comprising a further refinement of the second indication of the geographic location based on a measured velocity and direction of travel of the vehicle, as determined via measurements obtained from the one or more vehicle position or movement sensors, from a first point in which the object is detected overhead the vehicle and the vehicle is approximately directly underneath the object, to thereby provide the refined third indication while the vehicle is travelling from the first point that is approximately directly underneath the object to a second point that is approximately directly underneath a second object that is detected overhead the vehicle subsequent to the detection of the first object.

13. The system of claim 12, wherein the location sensor provides a beam with an approximately vertical edge for detecting the object.

14. A vehicle comprising:

a body;

a global positioning system (GPS);

a drive system disposed within the body; and

a localization system disposed within the body, the localization system comprising;

a location sensor configured to detect an object disposed proximate the vehicle in a generally upward direction, approximately overhead of the vehicle, from the vehicle by emitting a signal via a beam with a defined edge in the generally upward direction approximately overhead of the vehicle and receiving a return signal that is reflected from the object while the vehicle is travelling; and

a processor coupled to the sensor and configured to;

correlate the object with information from a map database, thereby generating a correlation; and

determine a geographic location of the vehicle based on the correlation, for augmenting data provided by a global positioning system (GPS);

wherein;

the localization system further comprises one or more vehicle position or movement sensors disposed onboard the vehicle and configured to measure a position or movement of the vehicle; and

the processor is coupled to the one of more vehicle position or movement sensors and is configured to at least facilitate;

determining a first indication of the geographic location of the vehicle based on data provided by the GPS, the first indication comprising a geographic region for the vehicle;

determining a second indication of the geographic location of the vehicle based on a refinement of the first indication based on the correlation between the detected overhead object and the map database, and based on a position of the detected overhead object within the geographic region; and

determining a third indication of the geographic location of the vehicle, the third indication comprising a further refinement of the second indication of the geographic location based on a measured velocity and direction of travel of the vehicle, as determined via measurements obtained from the one or more vehicle position or movement sensors, from a first point in which the object is detected overhead the vehicle and the vehicle is approximately directly underneath the object, to thereby provide the refined third indication while the vehicle is travelling from the first point that is approximately directly underneath the object to a second point that is approximately directly underneath a second object that is detected overhead the vehicle subsequent to the detection of the first object.

15. The vehicle of claim 14, wherein the location sensor provides a beam with an approximately vertical edge for detecting the object.

16. The vehicle of claim 14, wherein the location sensor is selected from the group consisting of a laser, an ultrasonic sensor, and a camera.

17. The vehicle of claim 14, wherein the location sensor comprises a laser.