Sensor-aided vehicle positioning system
US9970772B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 8, 2016 |
| Grant date | May 15, 2018 |
| Priority date | — |
| Expiry date | Jul 14, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S2013/9322
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method for localizing a vehicle in a digital map. GPS raw measurement data is retrieved from satellites. A digital map of a region traveled by the vehicle based on the raw measurement data is retrieved from a database. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by earth-fixed coordinates. Roadside objects are sensed in the region traveled by the vehicle using distance data and bearing angle data. The sensed roadside objects are matched on the digital map. A vehicle position is determined on the traveled road by fusing raw measurement data and sensor measurements of the identified roadside objects. The position of the vehicle is represented as a function of linearizing raw measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.