This application discloses a computing system to implement vehicle localization in an assisted or automated driving system. The computing system can receive an environmental model populated with measurement data captured by sensors mounted in a vehicle. The computing system can detect a location of the vehicle relative to the map data based on a correlation between the measurement data and the map data. The computing system can detect landmarks in the map data and switch to sparsely-populated map data from higher-definition map data for subsequent location detections. When the computing system does not detect a vehicle location, the computing system can track movement of the vehicle based on subsequent measurement data in the environmental model. After reacquiring a vehicle location, the computing can realign the tracked movement of the vehicle and measured data to the map data or modify the map data to include the tracked data.
Vehicle localization with map-matched sensor measurements
2020-03-10
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
Source localization with broad-band matched-field processing in shallow water
Tema Archive | 1996
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