Vehicle Localization System Initialization Using Map Verification
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Solution Overview
Problem
Existing vehicle localization systems face challenges in accurately initializing the position of vehicles, especially when starting up after shutdown, particularly in indoor or mountainous areas, leading to potential navigation impairments and safety risks such as collisions or deviation from expected paths.
Innovation Solution
A computer-implemented method that initializes the localization system by associating map-related information with the last available position, verifying the correct map is loaded, and activating the same sensors used previously, while considering factors like vehicle stationarity, GNSS availability, and weather conditions to ensure robust, secure, and accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the localization system uses the last available position for initialization at startup, then the initialization process is simplified and faster, but the risk of using incorrect map data increases leading to navigation errors
Solution Approach 1:
The system performs preliminary actions by storing map-related information including unique identifiers associated with the last available position before shutdown. At startup, this pre-stored information is retrieved and verified against currently loaded map data, enabling fast initialization without sacrificing accuracy through verification of map correctness.
Solution Approach 2:
The system implements feedback by verifying the loaded map data against the stored unique identifier from the last available position. This verification step provides feedback on whether the correct map is loaded, allowing the system to confirm positioning accuracy before commencing navigation operations.
2Reliability
If the system verifies the correct map is loaded using unique identifiers, then positioning accuracy and safety are improved, but the initialization process becomes more complex
Solution Approach 1:
The system uses copying by storing a unique identifier that represents the map data without copying the entire map. This identifier serves as a compact reference that can be verified against the loaded map, ensuring correctness while avoiding the complexity of handling and comparing complete map datasets.
Solution Approach 2:
The unique identifier acts as an intermediary between the stored position information and the currently loaded map data. Instead of directly comparing complex map datasets, the system uses this intermediate identifier for verification, simplifying the initialization process while maintaining positioning accuracy.
3Productivity
If the localization system operates without verifying map correctness at startup, then the system is simpler and faster to initialize, but the vehicle may deviate from expected paths increasing collision risk
Solution Approach 1:
The system applies preliminary anti-action by preemptively verifying map correctness using stored unique identifiers before navigation begins. This prevents potential navigation errors and collision risks from occurring in the first place, rather than reacting to problems after they arise during operation.
Data Source
AI summary
A-implemented method initializes a localization system for a vehicle, the localization system using map data comprising a plurality of maps for localizing the vehicle in an area The method includes associating map related information with a last available position of the vehicle which was used by the localization system before shutdown of the localization system, wherein the map related information comprises a unique identifier for a first map of the plurality of maps which was used for localizing the vehicle at the last available position, at start-up of the localization system with respect to the last available position, loading a map from the plurality of maps for localizing the vehicle at the last available position and verifying if the loaded map is the first map by using the unique identifier, and when it is verified that the first map is loaded, initializing the localization system with the last available position in the first map.