Localization error monitoring

US11254323B2 · kind B2 · utility

Assignee

• Zoox, Inc. · US

Inventors

• Derek Adams · Santa Clara, US
• David Burdick Berman · San Mateo, US
• Michael Carsten Bosse · Baden-Baden, DE
• Guillermo Duenas Arana · Chicago, US
• Anne-Claire Elisabeth Marie Le Henaff · San Francisco, US
• Francesco Papi · Oakland, US
• Brice Rebsamen · San Jose, US

Key dates

• Filing date: Mar 4, 2020
• Grant date: Feb 22, 2022
• Expiry date: May 21, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G01C21/26
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

Localization error monitoring using vehicle state information is described. A computing system associated with a vehicle may determine a current state of the vehicle, such as a location, position, orientation, velocity, acceleration, or the like. The vehicle computing system may determine one or more metrics associated with the state of the vehicle. The metrics may include a variance associated with the state, a residual associated with a measurement corresponding to the state, or a correction factor applied to correct an input error. The computing system may determine whether the metric exceeds a threshold value. Based on a threshold exceedance, the computing system may determine one or more errors associated with a state of the vehicle. The vehicle computing system may control the vehicle based on the one or more errors.