Vehicle localization system

Patent metadata

Field	Value
Publication number	US-9863775-B2
Application number	US-201415302857-A
Country	US
Kind code	B2
Filing date	Apr 11, 2014
Priority date	Apr 11, 2014
Publication date	Jan 9, 2018
Grant date	Jan 9, 2018

Abstract

A vehicle localization system includes a first localization system, a second localization system, and a controller. The first localization system is configured to determine a location of the vehicle using a first set of data. The second localization system is configured to determine a location of the vehicle using a second set of data. The controller is configured to switch from the first localization system to the second localization system when the first set of data is less than a predetermined amount.

First claim

What is claimed is:

1. An autonomous vehicle localization system, comprising:
a camera configured to capture visible road features in an image of an area at least partially surrounding the vehicle;
a first localization system configured to determine a location of the vehicle using a first set of data, including stored map data by comparing the visible road features with the stored map data to determine the location of the vehicle;
a second localization system configured to determine a location of the vehicle using a second set of data; and
a controller configured to enable autonomous operation of the vehicle based on the location determined by the first localization system and switch from the first localization system to the second localization system when a numerical amount of the stored map data is less than a predetermined amount, such that first localization system is inadequate.

2. The vehicle localization system according to claim 1 , further comprising
a storage device configured to store the map data.

3. A vehicle localization system, comprising:
a camera configured to capture visible features in an image of an area at least partially surrounding the vehicle;
a first localization system configured to determine a position of the vehicle by comparing edge images extracted from the image from the camera and compare each edge image from the camera to a corresponding virtual edge image in the map data stored in the storage device;
a second localization system configured to determine a location of the vehicle using a second set of data;
a controller configured to switch from the first localization system to the second localization system when a numerical amount of the first set of data is less than a predetermined amount; and
a storage device configured to store the map data.

4. The vehicle localization system according to claim 1 , wherein
the second localization system includes at least one of a global positioning system, odometery and simultaneous localization and mapping.

5. The vehicle localization system according to claim 4 , wherein
the second localization system includes the global positioning system.

6. The vehicle localization system according to claim 5 , further comprising
a storage device configured to store the map data.

7. The vehicle localization system according to claim 1 , wherein
the second localization system includes at least one of wheel sensors and inertial measurement unit sensors.

8. The vehicle localization system according to claim 1 , wherein
the controller is configured to switch from the second localization system to the first localization system when the numerical amount of the stored map data is greater than the predetermined amount.

9. A method of operating an autonomous vehicle localization system, the method comprising:
capturing, with a camera, visible road features in an image of an area at least partially surrounding the vehicle;
determining a location of the vehicle with a first localization system by using a first set of data, including stored map data and comparing the visible road features with the stored map data; and
switching from the first localization system to a second localization system when a numerical amount of a set of stored map data is less than a predetermined amount, such that the first localization system is ineffective, to enable autonomous operation of the vehicle.

10. The method according to claim 9 , further including
switching from the second localization system to the first localization system when the numerical amount of the set of stored map data is greater than the predetermined amount.

11. The vehicle localization system according to claim 3 , wherein
the edge images extracted from the image from the camera are areas of the image in which luminance of a pixel changes.

12. The vehicle localization system according to claim 1 , wherein
the first localization system is configured to determine the location of the vehicle by comparing areas of the image in which luminance of a pixel changes with the stored map data.

13. The method according to claim 9 , wherein
the determining the location of the vehicle with the first localization system includes comparing areas of the image in which luminance of a pixel changes with the stored map data.

Assignees

• Nissan North America Inc

Inventors

• Kojo Naoki

Classifications

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• G01C21/1656

  with passive imaging devices, e.g. cameras · CPC title

• G01C21/1652

  with ranging devices, e.g. LIDAR or RADAR · CPC title

• G01C21/26 Primary

  specially adapted for navigation in a road network · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title