Systems and methods for precise sub-lane vehicle positioning

A vehicle and lane-level technology, applied in satellite radio beacon positioning systems, vehicle components, radio wave measurement systems, etc., can solve problems such as cumulative errors

Active Publication Date: 2012-07-04
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These systems cannot be overly reliant on themselves though, as they inherently accumulate errors fai...

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  • Systems and methods for precise sub-lane vehicle positioning
  • Systems and methods for precise sub-lane vehicle positioning
  • Systems and methods for precise sub-lane vehicle positioning

Examples

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Embodiment Construction

[0151] Detailed embodiments of the present disclosure are disclosed herein as needed. The disclosed embodiments are merely examples that can be embodied in various and alternative forms and combinations. As used herein, terms such as "exemplary" and similar terms generally refer to an embodiment that serves as an example, instance, model, or template. The figures are not necessarily to scale and certain features may, for example, be exaggerated or minimized to show details of particular components. In some instances, well-known components, systems, materials or methods have not been described in detail in order not to obscure the present disclosure. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for interpreting the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure.

[0152] Although the description includes the main content o...

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Abstract

The invention relates to systems and methods for precise sub-lane vehicle positioning. A vehicle having an on-board computer, vehicle sensors, a satellite-positioning unit, a database storing a lane-level map performs a method to determine a new pose of the vehicle using map matching. The method includes the on-board computer of the vehicle receiving new data from at least one of the vehicle sensors and collecting measurements from the vehicle sensors. The method also includes the on-board computer of the vehicle computing propagation of vehicle pose with respect to consecutive time instances and performing a curve-fitting process. The method further includes the on-board computer of the vehicle performing a sub-routine of updating at least one observation model based on results of the curve-fitting process, performing a tracking sub-routine including using a probability distribution to update the vehicle pose in terms of data particles, and performing a particle filtering sub-routine based on the data particles to compute the new vehicle pose.

Description

technical field [0001] The present disclosure relates generally to vehicle localization, and more particularly to systems and methods for determining vehicle position with lane-by-lane accuracy by fusing inputs from GPS, cameras, radar, lane-level digital maps, and vehicle dynamics sensors. Background technique [0002] Modern cars have on-board computers to help the vehicle run and implement various safety features. Active safety and driver assistance (ASDA) applications require accurate knowledge of the vehicle's position relative to the road and other vehicles. Exemplary ASDA applications include navigation applications, lane keeping and centering applications, autonomous driving, and collision avoidance applications. [0003] For certain advanced ASDA operations, it is necessary to accurately position the vehicle within a specific lane in the road (lane-level accuracy) rather than just on-road resolution. Such operations include accurately determining: (i) another vehi...

Claims

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Application Information

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IPC IPC(8): B60W40/10G01S13/931
CPCG01S2013/9353B60W2550/402G01S2013/9367G01S19/50B60W2520/14G01S13/931G01S19/48G01C21/30B60W2550/146B60W30/12G01S19/14G01S19/42G01S2013/9323G01S2013/932B60W2552/30B60W2556/50
Inventor S.曾V.萨德卡
Owner GM GLOBAL TECH OPERATIONS LLC
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