Methods and systems for vehicle localization

Patent metadata

Field	Value
Publication number	US-2022003552-A1
Application number	US-202016919301-A
Country	US
Kind code	A1
Filing date	Jul 2, 2020
Priority date	Jul 2, 2020
Publication date	Jan 6, 2022
Grant date	—

Abstract

Methods and systems for vehicle localization are provided herein. An example method can include obtaining a map within an operating area. A location within the operating area is associated with a pattern of speed bumps that is configured to produce a vehicle pitch response from the vehicle when the vehicle travels over the pattern of speed bumps. The method can include obtaining motion sensor information from a vehicle sensor, determining when the motion sensor information matches the vehicle pitch response, and determining that the vehicle is in the location when the motion sensor information corresponds to the vehicle pitch response of the location.

First claim

What is claimed is:

1 . A method, comprising:
obtaining a map within an operating area, wherein a location within the operating area is associated with a pattern of speed bumps that is configured to produce a vehicle pitch response from a vehicle when the vehicle travels over the pattern of speed bumps; obtaining motion sensor information from a vehicle sensor; determining that the motion sensor information matches the vehicle pitch response; and determining that the vehicle is in the location based on the motion sensor information corresponding to the vehicle pitch response of the location.

2 . The method according to claim 1 , wherein the pattern of speed bumps associated with the location comprises a non-symmetric pattern, further comprising determining a direction of travel of the vehicle based on the motion sensor information.

3 . The method according to claim 1 , wherein determining that the motion sensor information corresponds to the vehicle pitch response of the location comprises determining a speed of the vehicle, wherein the motion sensor information from the vehicle is determined in combination with the speed of the vehicle.

4 . The method according to claim 1 , wherein determining that the motion sensor information corresponds to the vehicle pitch response of the location comprises:
transmitting the motion sensor information to a service provider; and receiving location information from the service provider based on the service provider matching the motion sensor information to the vehicle pitch response of the location.

5 . The method according to claim 1 , further comprising determining that the vehicle is within the operating area by detecting that the vehicle encountered a pattern of entrance speed bumps near an entry point of the operating area based on the motion sensor information.

6 . The method according to claim 1 , further comprising navigating the vehicle through the operating area based on prior navigation information when the pattern of speed bumps have not been encountered by the vehicle after driving within the operating area for a period of time or after a predetermined distance.

7 . The method according to claim 1 , wherein the motion sensor information comprises displacement of a vehicle suspension component.

8 . A method, comprising:
obtaining a map of an operating area, the map identifying locations within the operating area, each of the locations being uniquely identifiable using a pattern of speed bumps, the pattern of speed bumps producing a vehicle pitch response by a vehicle as the vehicle travels over the pattern of speed bumps; converting motion sensor information of the vehicle into pitch data as the vehicle traverses the operating area; and determining a location of the vehicle as corresponding to one of the locations based on the pitch data matching the vehicle pitch response of any of the locations.

9 . The method according to claim 8 , further comprising determining that the vehicle is within the operating area.

10 . The method according to claim 8 , wherein the pattern of speed bumps associated with location comprises a non-symmetric pattern, further comprising determining a direction of travel of the vehicle based on the motion sensor information.

11 . The method according to claim 8 , further comprising determining a speed of the vehicle, wherein the motion sensor information from the vehicle is determined in combination with the speed of the vehicle.

12 . The method according to claim 8 , further comprising:
transmitting the motion sensor information to a service provider; and receiving location information from the service provider when the service provider matches the motion sensor information to the vehicle pitch response of the location.

13 . The method according to claim 8 , further comprising navigating the vehicle through the operating area based on prior navigation information when the pattern of speed bumps have not been encountered by the vehicle after driving within the operating area for a period of time or after a predetermined distance.

14 . The method according to claim 8 , wherein the motion sensor information comprises displacement of a vehicle suspension component.

15 . A system, comprising:
a processor; and a memory for storing instructions, the processor executing the instructions to:
obtain motion sensor information from a vehicle sensor when a vehicle encounters speed bumps within an operating area, wherein each location within the operating area are associated with a discreet pattern of speed bumps;
comparing the motion sensor information to vehicle pitch responses mapped to locations within the operating area; and
determine a current location of the vehicle.

16 . The system according to claim 15 , further comprising a service provider configured to compare the motion sensor information to vehicle pitch responses mapped to locations within an operating area.

17 . The system according to claim 16 , wherein the processor is configured to transmit the motion sensor information to the service provider and receive the current location from the service provider.

18 . The system according to claim 15 , wherein the processor is configured to navigate the vehicle through the operating area as the current location is determined over time.

19 . The system according to claim 15 , wherein the processor is configured to navigate the vehicle through the operating area based on prior navigation information when speed bumps have not been encountered by the vehicle after driving within the operating area for a period of time or after a predetermined distance.

20 . The system according to claim 19 , wherein the processor is configured to periodically update the prior navigation information with the motion sensor information and the current location of the vehicle as the current location changes over time as the vehicle is within the operating area.

Assignees

• Ford Global Tech Llc

Inventors

• Makke Omar
• Gusikhin Oleg

Classifications

• G01C21/12 Primary

  executed aboard the object being navigated; Dead reckoning · CPC title

• B60G2400/0512

  Pitch angle · CPC title

• B60G2400/824

  Travel path sensing; Track monitoring · CPC title

• B60G17/019

  characterised by the type of sensor or the arrangement thereof {(B60G17/01941 takes precedence)} · CPC title

• B60G2400/821

  Uneven, rough road sensing affecting vehicle body vibration · CPC title