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WO2018063245A8 - LOCATION OF AUTONOMOUS VEHICLE - Google Patents

LOCATION OF AUTONOMOUS VEHICLE Download PDF

Info

Publication number
WO2018063245A8
WO2018063245A8 PCT/US2016/054438 US2016054438W WO2018063245A8 WO 2018063245 A8 WO2018063245 A8 WO 2018063245A8 US 2016054438 W US2016054438 W US 2016054438W WO 2018063245 A8 WO2018063245 A8 WO 2018063245A8
Authority
WO
WIPO (PCT)
Prior art keywords
earth
relative
drivable surface
car
location
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2016/054438
Other languages
French (fr)
Other versions
WO2018063245A1 (en
Inventor
Paul Debitetto
Matthew Graham
Troy Jones
Peter Lommel
Jon D. Demerly
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Charles Stark Draper Laboratory Inc
Veoneer US LLC
Original Assignee
Charles Stark Draper Laboratory Inc
Veoneer US LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Charles Stark Draper Laboratory Inc, Veoneer US LLC filed Critical Charles Stark Draper Laboratory Inc
Priority to EP16781618.0A priority Critical patent/EP3516422A1/en
Priority to JP2019517922A priority patent/JP2019532292A/en
Priority to PCT/US2016/054438 priority patent/WO2018063245A1/en
Publication of WO2018063245A1 publication Critical patent/WO2018063245A1/en
Anticipated expiration legal-status Critical
Publication of WO2018063245A8 publication Critical patent/WO2018063245A8/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

In an embodiment, a localization module can provide coordinates of the vehicle relative to the Earth and relative to the drivable surface, both of which are precise enough to allow for self-driving, and further can compensate for a temporary lapse in reliable GPS service by continuing to track the car's position by tracking its movement with inertial sensors (e.g., accelerometers and gyroscopes) and RADAR data. The localization module bases its output on a geolocation relative to the Earth and sensor measurements of the drivable surface and its surroundings to determine where the car is in relation to the Earth and the drivable surface.
PCT/US2016/054438 2016-09-29 2016-09-29 Autonomous vehicle localization Ceased WO2018063245A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP16781618.0A EP3516422A1 (en) 2016-09-29 2016-09-29 Autonomous vehicle: vehicle localization
JP2019517922A JP2019532292A (en) 2016-09-29 2016-09-29 Autonomous vehicle with vehicle location
PCT/US2016/054438 WO2018063245A1 (en) 2016-09-29 2016-09-29 Autonomous vehicle localization

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2016/054438 WO2018063245A1 (en) 2016-09-29 2016-09-29 Autonomous vehicle localization

Publications (2)

Publication Number Publication Date
WO2018063245A1 WO2018063245A1 (en) 2018-04-05
WO2018063245A8 true WO2018063245A8 (en) 2019-04-18

Family

ID=57133431

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2016/054438 Ceased WO2018063245A1 (en) 2016-09-29 2016-09-29 Autonomous vehicle localization

Country Status (3)

Country Link
EP (1) EP3516422A1 (en)
JP (1) JP2019532292A (en)
WO (1) WO2018063245A1 (en)

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CN111505692A (en) * 2020-04-30 2020-08-07 中北大学 Beidou/vision-based combined positioning navigation method

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JP7103000B2 (en) * 2018-07-12 2022-07-20 株式会社デンソー Vehicle control device
CN110895407A (en) * 2018-08-22 2020-03-20 郑州宇通客车股份有限公司 Automatic driving vehicle operation control method integrating camera shooting and positioning and vehicle
EP3852080B1 (en) * 2018-09-11 2022-10-19 Nissan Motor Co., Ltd. Driving assistance method and driving assistance device
US11125567B2 (en) * 2019-01-18 2021-09-21 GM Global Technology Operations LLC Methods and systems for mapping and localization for a vehicle
US11112252B2 (en) * 2019-02-14 2021-09-07 Hitachi Ltd. Sensor fusion for accurate localization
EP3882885A4 (en) * 2019-03-12 2022-11-23 Hitachi Astemo, Ltd. VEHICLE CONTROL DEVICE
CN110081880A (en) * 2019-04-12 2019-08-02 同济大学 A kind of sweeper local positioning system and method merging vision, wheel speed and inertial navigation
JP7200829B2 (en) * 2019-06-03 2023-01-10 トヨタ自動車株式会社 vehicle system
US11885893B2 (en) * 2019-08-12 2024-01-30 Motional Ad Llc Localization based on predefined features of the environment
CN112444258B (en) * 2019-09-05 2025-08-08 深圳引望智能技术有限公司 Method for determining drivable area, intelligent driving system and intelligent car
CN110717007A (en) * 2019-10-15 2020-01-21 财团法人车辆研究测试中心 Map information positioning system and method using roadside feature identification
US11262759B2 (en) * 2019-10-16 2022-03-01 Huawei Technologies Co., Ltd. Method and system for localization of an autonomous vehicle in real time
US11125575B2 (en) 2019-11-20 2021-09-21 Here Global B.V. Method and apparatus for estimating a location of a vehicle
CN112904395B (en) * 2019-12-03 2022-11-25 青岛慧拓智能机器有限公司 Mining vehicle positioning system and method
US11852714B2 (en) 2019-12-09 2023-12-26 Thales Canada Inc. Stationary status resolution system
JP7290104B2 (en) 2019-12-23 2023-06-13 株式会社デンソー SELF-LOCATION ESTIMATING DEVICE, METHOD AND PROGRAM
JP7238758B2 (en) * 2019-12-23 2023-03-14 株式会社デンソー SELF-LOCATION ESTIMATING DEVICE, METHOD AND PROGRAM
CN115950440A (en) 2020-01-03 2023-04-11 御眼视觉技术有限公司 Systems and methods for vehicle navigation
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CN114120260B (en) * 2020-09-01 2024-08-20 广州汽车集团股份有限公司 Method and system for identifying drivable area, computer equipment and storage medium
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CN112666934A (en) * 2020-11-20 2021-04-16 北京星航机电装备有限公司 Control system, scheduling system and control method for automobile carrying AGV
FR3122920B1 (en) * 2021-05-17 2024-02-23 Renault Sas Localization method for autonomous vehicle.
CN113859265B (en) * 2021-09-30 2023-05-23 国汽智控(北京)科技有限公司 Reminding method and device in driving process
CN113984044A (en) * 2021-10-08 2022-01-28 杭州鸿泉物联网技术股份有限公司 A vehicle pose acquisition method and device based on vehicle multi-sensing fusion
CN114613037B (en) * 2022-02-15 2023-07-18 中国电子科技集团公司第十研究所 Airborne fusion information guidance sensor prompt search method and device
CN115561795A (en) * 2022-08-19 2023-01-03 中国科学院深圳先进技术研究院 Data recovery method, terminal device and storage medium based on automatic driving
CN115468569A (en) * 2022-09-16 2022-12-13 海南大学 A voice-controlled vehicle navigation method based on dual positioning
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Publication number Priority date Publication date Assignee Title
CN111505692A (en) * 2020-04-30 2020-08-07 中北大学 Beidou/vision-based combined positioning navigation method

Also Published As

Publication number Publication date
WO2018063245A1 (en) 2018-04-05
JP2019532292A (en) 2019-11-07
EP3516422A1 (en) 2019-07-31

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