System and method for automatic determination of location of an autonomous vehicle when a primary location system is offline

Patent metadata

Field	Value
Publication number	US-10495722-B2
Application number	US-201816219615-A
Country	US
Kind code	B2
Filing date	Dec 13, 2018
Priority date	Dec 15, 2017
Publication date	Dec 3, 2019
Grant date	Dec 3, 2019

Abstract

Systems, methods, and computer-readable storage media for identifying, on an autonomous vehicle which is traveling, a loss of a primary location system, and activating a secondary location system. The secondary location system performs a radio frequency sweep of a geographic area around the autonomous vehicle to identify radio frequency beacons, compares the radio frequency beacons to known ground stations, performs a visual scan of the geographic area to identify visual beacons, each visual beacon having a particular visual frequency, and compares the particular visual frequency of each of the visual beacons to known visual beacons. The secondary location system then identifies a current location of the autonomous vehicle by triangulating the verified radio frequency beacons and the verified visual beacons and the autonomous vehicle generates a route to a stopping location based on the current location produced by the secondary location system.

First claim

We claim:

1. A method comprising:
identifying, on an autonomous vehicle which is traveling, a loss of a primary location system, the primary location system comprising Global Positioning System navigation;
activating a secondary location system which:
performs a radio frequency sweep of a geographic area around the autonomous vehicle to identify radio frequency beacons;
compares the radio frequency beacons to known ground stations, to yield verified radio frequency beacons;
performs a visual scan, via a camera, of the geographic area to identify visual beacons, each visual beacon having a particular visual frequency;
compares the particular visual frequency of each of the visual beacons to known visual beacons, to yield verified visual beacons; and
identifies a current location of the autonomous vehicle by triangulating the verified radio frequency beacons and the verified visual beacons; and

generating a route to a stopping location based on the current location produced by the secondary location system.

2. The method of claim 1 , wherein the visual beacons are LED lights configured to shine vertically upward.

3. The method of claim 1 , wherein the radio frequency beacons transmit metadata containing beacon identification.

4. The method of claim 1 , wherein the secondary location system performs additional actions comprising:
pre-processing the verified radio frequency beacons prior to performing the visual scan, the pre-processing narrowing the geographic area to a subset of the geographic area; and
wherein the comparing of the particular visual frequency of each of the visual beacons is limited to those visual beacons within the subset of the geographic area, and wherein limiting the comparison of particular visual frequency of visual beacons to the subset of the geographic area provides increased processing efficiency over comparing the particular visual frequency of visual beacons of an entirety of the geographic area.

5. The method of claim 1 , wherein the secondary location system comprises an ultra-wideband transceiver.

6. The method of claim 1 , wherein at least one of the visual beacons is mounted on a mobile ground vehicle.

7. The method of claim 1 , wherein the radio frequency beacons employ analog modulation.

8. An autonomous vehicle, comprising:
a primary location system, the primary location system using Global Positioning System navigation;
a secondary location system;
a processor; and
a computer-readable storage medium having instructions stored which, when executed by the processor, cause the processor to perform operations comprising:
identifying, on an autonomous vehicle which is traveling, a loss of the primary location system;
activating the secondary location system which:
performs a radio frequency sweep of a geographic area around the autonomous vehicle to identify radio frequency beacons;
compares the radio frequency beacons to known ground stations, to yield verified radio frequency beacons;
performs a visual scan, via a camera, of the geographic area to identify visual beacons, each visual beacon having a particular visual frequency;
compares the particular visual frequency of each of the visual beacons to known visual beacons, to yield verified visual beacons; and
identifies a current location of the autonomous vehicle by triangulating the verified radio frequency beacons and the verified visual beacons; and

generating a route to a stopping location based on the current location produced by the secondary location system.

9. The autonomous vehicle of claim 8 , wherein the visual beacons are LED lights configured to shine vertically upward.

10. The autonomous vehicle of claim 8 , wherein the radio frequency beacons transmit metadata containing beacon identification.

11. The autonomous vehicle of claim 8 , wherein the secondary location system performs additional actions comprising:
pre-processing the verified radio frequency beacons prior to performing the visual scan, the pre-processing narrowing the geographic area to a subset of the geographic area; and
wherein the comparing of the particular visual frequency of each of the visual beacons is limited to those visual beacons within the subset of the geographic area, and wherein limiting the comparison of particular visual frequency of visual beacons to the subset of the geographic area provides increased processing efficiency over comparing the particular visual frequency of visual beacons of an entirety of the geographic area.

12. The autonomous vehicle of claim 8 , wherein the secondary location system comprises an ultra-wideband transceiver.

13. The autonomous vehicle of claim 8 , wherein at least one of the visual beacons is mounted on a mobile ground vehicle.

14. The autonomous vehicle of claim 8 , wherein the radio frequency beacons employ analog modulation.

15. A non-transitory computer-readable storage medium having instructions stored which, when executed by a computing device, cause the computing device to perform operations comprising:
identifying, on an autonomous vehicle which is traveling, a loss of a primary location system, the primary location system comprising Global Positioning System navigation;
activating a secondary location system which:
performs a radio frequency sweep of a geographic area around the autonomous vehicle to identify radio frequency beacons;
compares the radio frequency beacons to known ground stations, to yield verified radio frequency beacons;
performs a visual scan, via a camera, of the geographic area to identify visual beacons, each visual beacon having a particular visual frequency;
compares the particular visual frequency of each of the visual beacons to known visual beacons, to yield verified visual beacons; and
identifies a current location of the autonomous vehicle by triangulating the verified radio frequency beacons and the verified visual beacons; and

generating a route to a stopping location based on the current location produced by the secondary location system.

16. The non-transitory computer-readable storage medium of claim 15 , wherein the visual beacons are LED lights configured to shine vertically upward.

17. The non-transitory computer-readable storage medium of claim 15 , wherein the radio frequency beacons transmit metadata containing beacon identification.

18. The non-transitory computer-readable storage medium of claim 15 , wherein the secondary location system performs additional actions comprising:
pre-processing the verified radio frequency beacons prior to performing the visual scan, the pre-processing narrowing the geographic area to a subset of the geographic area; and
wherein the comparing of the particular visual frequency of each of the visual beacons is limited to those visual beacons within the subset of the geographic area, and wherein limiting the comparison of particular visual frequency of visual beacons to the subset of the geographic area provides increased processing efficiency over comparing the particular visual frequency of visual beacons of an entirety of the geographic area.

19. The non-transitory computer-readable storage medium of claim 15 , wherein the secondary location system comprises an ultra-wideband transceiver.

20. The non-transitory computer-readable storage medium of claim 15 , wherein at least one of the visual beacons is mounted on a mobile ground vehicle.

Assignees

• Walmart Apollo Llc

Inventors

• O'Brien John J
• Cantrell Robert
• Winkle David
• Mattingly Todd
• High Donald R

Classifications

• G01S5/14

  Determining absolute distances from a plurality of spaced points of known location · CPC title

• G01S5/16

  using electromagnetic waves other than radio waves · CPC title

• G01S17/48

  Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves · CPC title

• G01S5/0242

  Determining the position of transmitters to be subsequently used in positioning (G01S5/0289 takes precedence) · CPC title

• G01S5/0263 Primary

  by combining or switching between positions derived from two or more separate positioning systems · CPC title