Tactile detection to determine lane localization

Patent metadata

Field	Value
Publication number	US-10875535-B2
Application number	US-201816047576-A
Country	US
Kind code	B2
Filing date	Jul 27, 2018
Priority date	Jul 27, 2018
Publication date	Dec 29, 2020
Grant date	Dec 29, 2020

Abstract

The systems and methods described herein disclose localization of a vehicle based on tactile events. As described here, the vibrations produced by objects in an environment as a vehicle encounters them can be used to determine the position and orientation of the vehicle. The systems and methods can include detecting at least one tactile event in an environment, during the operation of a vehicle. A tactile survey map can then be accessed to correlate surveyed tactile events to an event location in the environment. The detected tactile events can then be compared to the tactile survey map. Then, the event location and the tactile correlation can be applied to determine the vehicle location in the environment.

First claim

What is claimed is:

1. A tactile localization system for determining vehicle position, comprising:
one or more processors; and
a memory communicably coupled to the one or more processors and storing:
a measurement module including instructions that when executed by the one or more processors cause the one or more processors to detect, using one or more sensors, a tactile event in an environment, during operation of a vehicle, the tactile event including a tactile signature;
a comparison module including instructions that when executed by the one or more processors cause the one or more processors to determine an event location in the environment for the detected tactile event using a tactile survey map, the tactile survey map including one or more surveyed tactile events, the one or more surveyed tactile events including a tactile signature, the determining of the event location including at least comparing the tactile signature of the detected tactile event to the tactile signature of the one or more surveyed tactile events; and
a localization module including instructions that when executed by the one or more processors cause the one or more processors to determine a location of the vehicle in the environment based at least on the determined event location, and to control the vehicle in the environment with relation to the vehicle location.

2. The tactile localization system of claim 1 , wherein the tactile survey map is produced by a survey vehicle.

3. The tactile localization system of claim 1 , wherein the one or more sensors comprise an inertial measurement unit.

4. The tactile localization system of claim 1 , wherein the measurement module further includes instructions to update the tactile survey map using detected tactile events.

5. The tactile localization system of claim 1 , wherein the comparison module further comprises instructions to create a tactile correlation between the detected tactile event and the tactile survey map.

6. The tactile localization system of claim 5 , wherein the tactile event comprises a first tactile event and a second tactile event, and wherein the tactile correlation includes a correlation formed between the first tactile event associated with a first object and the second tactile event associated with a second object.

7. The tactile localization system of claim 5 , wherein the localization module further comprises instructions to determine an orientation of the vehicle using the tactile correlation and the tactile signature.

8. The tactile localization system of claim 1 , wherein the detected tactile event comprises a first detected tactile event and a second detected tactile event, and wherein the localization module further comprises instructions to determine a vehicle position between the first detected tactile event and the second detected tactile event.

9. A non-transitory computer-readable medium for determining vehicle position and storing instructions that when executed by one or more processors cause the one or more processors to:
detect, using one or more sensors, a tactile event in an environment, during operation of a vehicle, the tactile event including a tactile signature;
determine an event location in the environment for the detected tactile event using a tactile survey map, the tactile survey map including one or more surveyed tactile events, the one or more surveyed tactile events including a tactile signature, wherein determining the event location includes at least comparing the tactile signature of the detected tactile event to the tactile signature of the one or more surveyed tactile events;
determine a location of the vehicle in the environment based at least on the determine event location; and
control the vehicle in the environment with relation to the vehicle location.

10. The non-transitory computer-readable medium of claim 9 , wherein the tactile survey map is produced by a survey vehicle, and wherein the one or more sensors comprise an inertial measurement unit.

11. The non-transitory computer-readable medium of claim 9 , further comprising instructions to update the tactile survey map using detected tactile events.

12. The non-transitory computer-readable medium of claim 9 , further comprising instructions to create a tactile correlation between the detected tactile event and the tactile survey map.

13. The non-transitory computer-readable medium of claim 12 , further comprises instructions to determine an orientation of the vehicle using the tactile correlation and the tactile signature.

14. The non-transitory computer-readable medium of claim 12 , wherein the tactile event comprises a first tactile event and a second tactile event, and wherein the tactile correlation includes a correlation formed between the first tactile event associated with a first object and the second tactile event associated with a second object.

15. The non-transitory computer-readable medium of claim 9 , wherein the detected tactile event comprises a first detected tactile event and a second detected tactile event, and further comprising instructions to determine a vehicle position between the first detected tactile event and the second detected tactile event.

16. A method for determining vehicle position, comprising:
detecting, using one or more sensors, a tactile event in an environment, during operation of a vehicle, the tactile event including a tactile signature;
determining an event location in the environment for the detected tactile event using a tactile survey map, the tactile survey map including one or more surveyed tactile events, the one or more surveyed tactile events including a tactile signature, wherein determining the event location includes at least comparing the tactile signature of the detected tactile event to the tactile signature of the one or more surveyed tactile events;
determining a location of the vehicle in the environment based at least on the determined event location; and
controlling the vehicle in the environment with relation to the vehicle location.

17. The method of claim 16 , further comprising updating the tactile survey map using the detected tactile events.

18. The method of claim 16 , further comprising creating a tactile correlation, using the detected tactile event and the tactile survey map.

19. The method of claim 16 , further comprising detecting one or more anticipated tactile events.

20. The method of claim 16 , wherein the detected tactile event comprises a first detected tactile event and a second detected tactile event, and further comprising determining a vehicle position between the first detected tactile event and the second detected tactile event.

Assignees

• Toyota Res Inst Inc

Inventors

• Ozog Paul J

Classifications

• B60W2556/10

  Historical data · CPC title

• B60W2050/0075

  Automatic parameter input, automatic initialising or calibrating means · CPC title

• B60W50/0098

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title

• G01C21/28

  with correlation of data from several navigational instruments · CPC title

• B60W2552/35

  Road bumpiness, e.g. potholes · CPC title