Sensor fusion for accurate localization
AssigneeHitachi, Ltd.
InventorsAkshay Gokhale, Atsushi Yokoyama
Life of this patent
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Abstract
To localize a vehicle in the given map precisely for autonomous driving, the vehicle needs to compare the sensor perceived environment with the map information accurately. To achieve this, the vehicle may use information received from multiple on-board sensors in combination of GPS and map data. Example implementations described herein are directed to maintaining accuracy of sensor measurements for autonomous vehicles even during sensor failure through a raw data fusion technique and a repopulation of data through a prediction technique based on historical information and statistical method if any of the sensors fail.
Claims18
A method for an autonomous vehicle having a plurality of sensors, the method comprising:
- for a failure occurring in at least one of the plurality of sensors:
- obtaining first sensor data points from working ones of the plurality of sensors;
- obtaining second sensor data points from a historical database;
- conducting a prediction of missing sensor data points based on an error correction process applied in comparing the first sensor data points and the second sensor data points;
- weighing the missing sensor data points and the first sensor data points;
- and
- applying the weighted missing sensor points and the first sensor data points to localization for autonomous vehicle functions of the autonomous vehicle.
A non-transitory computer readable medium, storing instructions for an autonomous vehicle having a plurality of sensors, the instructions comprising:
- for a failure occurring in at least one of the plurality of sensors:
- obtaining first sensor data points from working ones of the plurality of sensors;
- obtaining second sensor data points from a historical database;
- conducting a prediction of missing sensor data points based on an error correction process applied in comparing the first sensor data points and the second sensor data points;
- weighing the missing sensor data points and the first sensor data points;
- and
- applying the weighted missing sensor points and the first sensor data points to localization for autonomous vehicle functions of the autonomous vehicle.
An apparatus configured to manage an autonomous vehicle having a plurality of sensors, the apparatus comprising:
- a processor, configured to:
- for a failure occurring in at least one of the plurality of sensors:
- obtain first sensor data points from working ones of the plurality of sensors;
- obtain second sensor data points from a historical database;
- conduct a prediction of missing sensor data points based on an error correction process applied in comparing the first sensor data points and the second sensor data points;
- weigh the missing sensor data points and the first sensor data points;
- and
- apply the weighted missing sensor points and the first sensor data points to localization for autonomous vehicle functions of the autonomous vehicle.
Dependencies are inferred from the claim text.