Automated vehicle map localization based on observed geometries of roadways

Patent metadata

Field	Value
Publication number	US-10289115-B2
Application number	US-201715611337-A
Country	US
Kind code	B2
Filing date	Jun 1, 2017
Priority date	Jun 1, 2017
Publication date	May 14, 2019
Grant date	May 14, 2019

Abstract

A map-localization system for navigating an automated vehicle includes a path-detector, a digital-map, and a controller. The path-detector is used to detect observed-geometries of a roadway traveled by a host-vehicle. The digital-map indicates mapped-geometries of roadways available for travel by the host-vehicle. The controller is in communication with the path-detector and the digital-map. The controller is configured to determine a location of the host-vehicle on the digital-map based on a comparison of the observed-geometries to the mapped-geometries.

First claim

We claim:

1. A map-localization system for navigating an automated vehicle, said system comprising:
a path-detector that detects observed-geometries of a roadway traveled by a host-vehicle, wherein the observed-geometries include road-heading, road-curvature, road-width, intersection-headings, intersection-spacing, cul-de-sac-length, and cul-de-sac-heading;
a digital-map that indicates mapped-geometries of roadways available for travel by the host-vehicle; and
a controller in communication with the path-detector and the digital-map, said controller configured to determine a location of the host-vehicle on the digital-map based on a comparison of the observed-geometries to the mapped-geometries.

2. The system in accordance with claim 1 , wherein the path-detector detects relative-positions of observed-objects, the digital-map indicates mapped-positions of mapped-objects proximate to the roadways available for travel by the host-vehicle, and the controller is further configured to determine the location of the host-vehicle on the digital-map based on a comparison of the relative-positions to the mapped-positions.

3. The system in accordance with claim 2 , wherein the relative-positions of the observed-objects are characterized by a distance-between-objects, a heading-between-objects, and a distance-from-roadway.

Assignees

• Aptiv Tech Ltd

Inventors

• Hilnbrand Brian R
• Robert Paul

Classifications

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title

• G05D1/027

  comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165) · CPC title

• G05D1/0088 Primary

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G05D1/0257

  using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931) · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title