Position error estimate and implementation for autonomous driving
First Claim
1. A method for controlling an automated system of a vehicle, the method comprising:
- obtaining inputs from a plurality of different input systems used in connection with the vehicle;
estimating a current position of the vehicle using the inputs from each of the plurality of different input systems, generating a current position estimate based on the estimating;
estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the aggregate expected error radius is estimated by;
estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system; and
aggregating the respective error measures for each of the plurality of different input systems;
to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate; and
controlling the automated system using the current position estimate and the aggregate expected error radius.
1 Assignment
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Accused Products
Abstract
Methods, systems, and vehicles are provided for controlling an automated system of a vehicle. In one example, the vehicle includes one or more automated driving systems, a plurality of input systems, and a processor. The plurality of input systems are used in connection with the vehicle, and are configured to provide inputs. The processor is coupled to the plurality of input systems, and is configured to at least facilitate: estimating a current position of the vehicle using the inputs from the plurality of input systems generating a current position estimate, estimating an error for the current position estimate, the error comprising an expected error radius for the current position estimate, and controlling the one or more automated driving systems using the current position estimate and the expected error radius.
6 Citations
17 Claims
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1. A method for controlling an automated system of a vehicle, the method comprising:
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obtaining inputs from a plurality of different input systems used in connection with the vehicle; estimating a current position of the vehicle using the inputs from each of the plurality of different input systems, generating a current position estimate based on the estimating; estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the aggregate expected error radius is estimated by; estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system; and aggregating the respective error measures for each of the plurality of different input systems;
to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate; andcontrolling the automated system using the current position estimate and the aggregate expected error radius. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for controlling an automated system of a vehicle, the system comprising:
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a plurality of different input systems used in connection with the vehicle, the plurality of different input systems each configured to provide respective inputs; and a processor coupled to the plurality of different input systems, the processor configured to at least facilitate; estimating a current position of the vehicle using the respective inputs from each of the plurality of different input systems, generating a current position estimate based on the estimating; estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the aggregate expected error radius is estimated by; estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system; and aggregating the respective error measures for each of the plurality of different input systems;
to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate; andcontrolling the automated system using the current position estimate and the aggregate expected error radius. - View Dependent Claims (9, 10, 11, 12)
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13. A vehicle comprising:
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one or more automated driving systems; a plurality of different input systems used in connection with the vehicle, the plurality of different input systems configured to provide inputs; and a processor coupled to the plurality of different input systems, the processor configured to at least facilitate; estimating a current position of the vehicle using the inputs from each of the plurality of different input systems generating a current position estimate based on the estimating; estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the expected error radius is estimated by; estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system; and aggregating the respective error measures for each of the plurality of different input systems;
to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate; andcontrolling the one or more automated driving systems using the current position estimate and the aggregate expected error radius. - View Dependent Claims (14, 15, 16, 17)
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Specification