Vehicle localization with map-matched sensor measurements

US10585409B2 · kind B2 · utility

Assignee

• MENTOR GRAPHICS CORPORATION · US

Inventors

• Ljubo Mercep · Hersbruck, DE
• Matthias Pollach · Hersbruck, DE

Key dates

• Filing date: Jan 30, 2017
• Grant date: Mar 10, 2020
• Expiry date: Jan 30, 2037

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/0278
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

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.