WO2018063245A8 - Autonomous vehicle: vehicle localization - Google Patents

Autonomous vehicle: vehicle localization Download PDF

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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
vehicle
earth
relative
drivable surface
localization
Prior art date
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
Original Assignee
The Charles Stark Draper Laboratory, Inc.
Veoneer Us Inc.
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 The Charles Stark Draper Laboratory, Inc., Veoneer Us Inc. filed Critical The Charles Stark Draper Laboratory, Inc.
Priority to PCT/US2016/054438 priority Critical patent/WO2018063245A1/en
Priority to EP16781618.0A priority patent/EP3516422A1/en
Priority to JP2019517922A priority patent/JP2019532292A/en
Publication of WO2018063245A1 publication Critical patent/WO2018063245A1/en
Publication of WO2018063245A8 publication Critical patent/WO2018063245A8/en

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

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 WO2018063245A1 (en)

Priority Applications (3)

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

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 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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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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