Systems and methods for vehicle control using terrain-based localization

Patent metadata

Field	Value
Publication number	US-12589751-B2
Application number	US-202117511331-A
Country	US
Kind code	B2
Filing date	Oct 26, 2021
Priority date	Oct 27, 2020
Publication date	Mar 31, 2026
Grant date	Mar 31, 2026

Abstract

Systems and methods described herein include implementation of road surface-based localization techniques for advanced vehicle features and control methods including lane drift detection, passing guidance, bandwidth conservation and caching based on road data, vehicle speed correction, suspension and vehicle system performance tracking and control, road estimation calibration, and others.

First claim

The invention claimed is:

1 . A method of determining a location of a vehicle using terrain-based localization, during a trip to a destination, the method comprising:
selecting the destination of the trip; with a navigation system, planning a route of travel to the destination; after planning the route but prior to traveling along the planned route, downloading reference road profile information for one or more road segments in the planned route from a remote database; prior to traveling along the planned route, storing the downloaded reference road profile information on a local information storage unit in the vehicle; commencing travel along the planned route; travelling along the one or more road segments; while travelling along the one or more road segments, collecting road profile information with at least one sensor on-board the vehicle; using terrain-based localization to determine the location of the vehicle, wherein the terrain-based localization includes a comparison of the reference road profile information, downloaded and stored prior to the commencement of the trip, and the road profile information collected while travelling along at least the one or more road segments.

2 . The method of claim 1 , further comprising using the road profile information to control an aspect of a system in the vehicle during the trip.

3 . The method of claim 1 , wherein the reference road profile information is downloaded and stored while the vehicle is parked.

4 . The method of claim 3 , wherein the reference road profile information is downloaded using a connection selected from the group consisting of WiFi, a hard wired connection, and an ethernet connection.

5 . The method of claim 4 , wherein the vehicle is selected from the group consisting of an electric vehicle and a plug-in hybrid-electric vehicle, and wherein the ethernet connection is integrated with a charging cable.

6 . The method of claim 3 , wherein the vehicle is parked in a garage associated with a home or a business.

7 . The method of claim 3 , wherein the travelling occurs during peak travel times and downloading of reference road profile information occurs during hours when demand for communication resources is lower than it is during peak travel times.

8 . The method of claim 3 , wherein the selecting of the destination is based at least partly on information received from a user interface.

9 . The method of claim 1 , further comprising, before starting the trip, confirming that the reference road profile information is up-to-date.

10 . The method of claim 1 , wherein selecting the route includes accessing data from a predesignated electronic calendar.

11 . The method of claim 10 , wherein the predesignated electronic calendar is accessed via a cell phone.

12 . The method of claim 1 , wherein the local information storage unit is in a cell phone.

13 . The method of claim 1 , wherein selecting the destination includes accessing data from a user interface in the vehicle.

14 . The method of claim 1 , wherein the one or more segments is an entirety of the planned route.

15 . The method of claim 1 , wherein the navigation system is located in a cell phone.

16 . A method of determining a location of a vehicle while the vehicle is traveling to a destination, the method comprising:
selecting the destination; using a navigation system to select a route to the destination; determining that reference road profile data for at least a portion of the selected route that is selected is available onboard the vehicle; verifying that the available reference road profile data onboard the vehicle is up-to-date; commencing travel along the selected route; collecting road profile data with at least one sensor on-board the vehicle, while traveling along at least the portion of the selected route; and performing terrain-based localization to determine the location of the vehicle, wherein the terrain-based localization includes comparing the reference road profile data, downloaded and stored prior to the commencement of the travel along the selected route, and the road profile data collected while travelling along at least the portion of the selected route.

17 . A method of providing road preview information to a vehicle using two separate cloud-based databases while maintaining the vehicle's anonymity, the method comprising:
receiving, from the vehicle at a first cloud-based database, data based on measurements made with at least one sensor on board the vehicle; receiving, from the vehicle at the first cloud-based database, vehicle identifying data; creating a data tag based on the received vehicle identifying data; associating the data tag with the data based on measurements received from the vehicle; providing information to a second cloud-based database that includes the data based on measurements received from the vehicle at the first cloud-based database, and the associated data tag, wherein the second cloud-based database is operated independently from the first cloud-based database; receiving at the first cloud-based database, from the second cloud-based database, road preview information for the vehicle determined based at least partially on the information provided to the second cloud-based database by the first cloud-based database, wherein the road preview information includes data characterizing at least an aspect of a road ahead of the vehicle, and wherein road preview information is associated with the data tag; at the first cloud-based database, based on the data tag, associating the road preview information with the vehicle; and providing the road preview information to the vehicle.

18 . The method of claim 17 , wherein the at least one sensor is selected from the group consisting of an accelerometer mounted on an unsprung mass of the vehicle, an accelerometer mounted on a sprung mass of the vehicle, and an IMU.

19 . The method of claim 17 , wherein the information received from the vehicle at a first cloud-based database includes a road profile of a road surface of the road.

Assignees

• Clearmotion Inc

Inventors

• Eisenmann John Parker
• Giovanardi Marco
• Schulze Stefan
• Graves William
• Sridhar Vijayaraghavan
• Proctor Marcus Joseph
• Ekchian Jack A

Classifications

• B60W2510/081

  Speed · CPC title

• B60W20/20

  Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration · CPC title

• B60W2552/53

  Road markings, e.g. lane marker or crosswalk · CPC title

• B60W2552/20

  Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments · CPC title

• H04W4/40

  for vehicles, e.g. vehicle-to-pedestrians [V2P] · CPC title