Aspects of the disclosure provide for localizing a vehicle. In one instance, a weather condition in which the vehicle is currently driving may be identified. A plurality of sensor inputs including intensity information, elevation information, and radar sensor information may be received. For each of the plurality of sensor inputs, an alignment score is determined by comparing the intensity information, elevation information, and radar sensor information to a corresponding pre-stored image for each of the intensity information, the elevation information, and the radar sensor information. A set of weights for the plurality of sensor inputs may be determined based on the identified weather condition. The alignment scores may then be combined using the set of weights in order to localize the vehicle.
LOCALIZATION ADAPTATION BASED ON WEATHER ESTIMATION
2022-07-14
Patent
Elektronische Ressource
Englisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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