Sensor-aided vehicle positioning system

Patent metadata

Field	Value
Publication number	US-9970772-B2
Application number	US-201615176419-A
Country	US
Kind code	B2
Filing date	Jun 8, 2016
Priority date	Sep 17, 2013
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

A method for localizing a vehicle in a digital map. GPS raw measurement data is retrieved from satellites. A digital map of a region traveled by the vehicle based on the raw measurement data is retrieved from a database. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by earth-fixed coordinates. Roadside objects are sensed in the region traveled by the vehicle using distance data and bearing angle data. The sensed roadside objects are matched on the digital map. A vehicle position is determined on the traveled road by fusing raw measurement data and sensor measurements of the identified roadside objects. The position of the vehicle is represented as a function of linearizing raw measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively.

First claim

What is claimed is:

1. A method for localizing a vehicle in a digital map comprising:
retrieving raw satellite measurement data from at least three satellites in a Global Navigation Satellite System (GNSS) satellite system;
retrieving from a database a digital map of a region traveled by the vehicle based on the raw measurement data, the digital map including a geographic mapping of a traveled road and registered roadside objects, the registered roadside objects being positionally identified in the digital map by earth-fixed coordinates;
sensing roadside objects in the region traveled by the vehicle using distance data and bearing angle data;
matching the sensed roadside objects on the digital map;
determining a position of the vehicle on the traveled road by fusing the raw satellite measurement data and sensor measurement data of the sensed roadside objects, wherein the position of the vehicle is represented as a function of linearizing the raw satellite measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively; and
updating the position of the vehicle in a vehicle positioning system utilizing the determined position of the vehicle;
wherein determining the position includes using the following equation:
min x ∥H GNSS x−o GNSS ∥ 2

where x=(x, y, v h , φ) T , x y is a ground plane position of the vehicle, v h is a ground plane longitudinal velocity of the vehicle, φ is a ground plane orientation of the vehicle, H GNSS is the derived Jacobian matrix, and o GNSS are the normalized measurements.

2. The method of claim 1 , wherein the raw satellite measurement data includes range measurements and Doppler measurements.

3. The method of claim 2 , wherein the range measurements are determined from the following equations:
∥ P 1 −P H ∥=R 1

∥ P 2 −P H ∥=R 2

∥ P 3 −P H ∥=R 3

where P 1 , P 2 , P 3 are positions of the at least three satellites, respectively, and P H is a position of the vehicle.

4. The method of claim 2 wherein the Doppler measurements are determined from the following equations:

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where P 1 , P 2 , P 3 are positions of the at least three satellites, respectfully, V 1 , V 2 , and V 3 are velocities of the at least three satellites, respectfully, P H is a position of the vehicle, and V H is a position and heading of the vehicle.

5. The method of claim 1 , wherein determining the position utilizes wireless router data, wherein the linearized measurements for determining the position is further represented by the following equation:
min x ∥H WR x−o WR ∥ 2

where H WR is another derived Jacobian matrix, and o WR are normalized measurements derived from the wireless data.

6. The method of claim 5 , wherein the wireless router data includes a distance measurement between the vehicle and a Wi-Fi access point, and a distance measurement between the vehicle and an RFID tag.

7. The method of claim 6 , wherein the distance measurement between the vehicle and the Wi-Fi access point is represented by the following equation:
∥ P WIFI −P H ∥=R WIFI

where P WIFI is a position of the Wi-Fi router, and P H is a position of the vehicle.

8. The method of claim 6 , wherein the distance measurement between the vehicle and the Wi-Fi access point is represented by the following equation:
∥ P RFID −P H ∥=R RFID

where P RFID is a position of the RFID tag, and P H is a position of the vehicle.

9. The method of claim 1 , wherein determining the vehicle position utilizes sensor data, wherein the lineariz

Assignees

• Gm Global Tech Operations Llc

Inventors

• Zeng Shuqing
• Salinger Jeremy A
• Litkouhi Bakhtiar B
• Pazhayampallil Joel
• O'Dea Kevin A
• Nickolaou James N
• Shields Mark E

Classifications

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• G01S5/16

  using electromagnetic waves other than radio waves · CPC title

• G01C21/3602

  Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S7/412

  based on a comparison between measured values and known or stored values · CPC title