System and method for controlling engine braking
US-2020141486-A1 · May 7, 2020 · US
Vehicle localization system
US10953886B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10953886-B2 |
| Application number | US-201916571681-A |
| Country | US |
| Kind code | B2 |
| Filing date | Sep 16, 2019 |
| Priority date | Oct 31, 2018 |
| Publication date | Mar 23, 2021 |
| Grant date | Mar 23, 2021 |
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- Title
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Abstract
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A vehicle localization system includes: an electronic control unit estimating a vehicle position including a longitudinal position on a map in an extension direction of a road on which the vehicle is traveling and a lateral position on the map in a lateral direction of the road; and a storage device storing a map database including map information. The electronic control unit obtains a vehicle speed and a pitch angle of the vehicle, perceives a measured position of the vehicle on the map based on a measurement result of a positioning device mounted on the vehicle and the vehicle speed, and estimates the longitudinal position from comparison between a rate of change in pitch angle of the vehicle along the road and a rate of change in height on the map along the road, based on the measured position, the map information, and the pitch angle.
First claim
Opening claim text (preview).
What is claimed is: 1. A vehicle localization system, comprising: an electronic control unit programmed to: estimate a vehicle position including a longitudinal position and a lateral position, the longitudinal position being a position of a vehicle on a map in an extension direction of a road on which the vehicle is traveling, and the lateral position being a position of the vehicle on the map in a lateral direction of the road; and a storage device that stores a map database including map information, the map information including height information or grade information of the road, wherein: the electronic control unit is programmed to: obtain a vehicle speed and a pitch angle of the vehicle traveling on the road; perceive a measured position of the vehicle on the map based on a measurement result of a positioning device mounted on the vehicle and the vehicle speed; and estimate the longitudinal position from comparison between a rate of change in pitch angle of the vehicle along the road and a rate of change in height on the map along the road, based on the measured position of the vehicle on the map, the map information, and the pitch angle of the vehicle. 2. The vehicle localization system according to claim 1 , wherein the electronic control unit is further programmed to: determine whether the vehicle is located near a characteristic height change section set in advance, based on the measured position of the vehicle on the map and the map information, and the longitudinal position when determining that the vehicle is located near the characteristic height change section, and not to estimate the longitudinal position from the comparison between the rate of change in pitch angle of the vehicle and the rate of change in height on the map when determining that the vehicle is not located near the characteristic height change section.
Assignees
Inventors
Classifications
- B60W40/06Primary
Road conditions · CPC title
Yaw · CPC title
related to vehicle motion · CPC title
Pitch · CPC title
of positioning data, e.g. GPS [Global Positioning System] data · CPC title
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Frequently asked questions
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- What does patent US10953886B2 cover?
- A vehicle localization system includes: an electronic control unit estimating a vehicle position including a longitudinal position on a map in an extension direction of a road on which the vehicle is traveling and a lateral position on the map in a lateral direction of the road; and a storage device storing a map database including map information. The electronic control unit obtains a vehicle …
- Who is the assignee on this patent?
- Toyota Motor Co Ltd
- What technology area does this patent fall under?
- Primary CPC classification B60W40/06. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Mar 23 2021 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 4 related publications on this page (citations in our corpus or others sharing the same primary CPC).