Systems and methods for vehicle positioning
AssigneeTesla, Inc.
InventorsNeda Cvijetic, Robert Cofield, Mark McClelland, Zeljko Popovic, Francis Havlak
Life of this patent
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Abstract
Various vehicle technologies for improving positioning accuracy despite various factors that affect signals from navigation satellites. Such positioning accuracy is increased via determining an offset and communicating the offset in various ways or via sharing of raw positioning data between a plurality of devices, where at least one knows its location sufficiently accurately, for use in differential algorithms.
Claims21
A method of using a set of vehicles to determine a position and pose of the vehicles in the set, comprising:
- determining a first raw positioning data of a first moving vehicular client from a set of moving vehicular clients based on signals from satellites;
- determining a first pose data of the first moving vehicular client using sensor-based localization;
- sending the first raw positioning data and the first pose data from the first moving vehicular client to a second moving vehicular client such that the second moving vehicular client determines a first position vector relative to the first moving vehicular client based on the first raw positioning data, the first pose data, the second moving vehicular client having a position being in spatial proximity to the first moving vehicular client and temporal proximity to the first moving vehicular client;
- in response to the second moving vehicular client determining a second position vector relative to a third moving vehicular client based on the first pose data and the first raw positioning data, updating, using the second position vector received from the second moving vehicular client, the first pose data according to the first position vector and the second position vector;
- and
- in response to updating the first pose data, broadcasting the first pose data to the set of moving vehicular clients to cause one or more of the set of the moving vehicular clients to determine pose data based on the first pose data.
A system for using a set of vehicles to determine a position and pose of the vehicles in the set, the system comprising:
- a hardware server configured to:
- receive a first raw positioning data and first pose data from a first moving vehicular client;
- send the first raw positioning data and the first pose data from the first moving vehicular client to a second moving vehicular client such that the second moving vehicular client determines a first position vector relative to the first moving vehicular client based on the first raw positioning data, the first pose data, the second moving vehicular client having a position being in spatial proximity to the first moving vehicular client and temporal proximity to the first moving vehicular client,
- wherein the first raw positioning data is obtained based on signals from satellites;
- in response to the second moving vehicular client determining a second position vector relative to a third vehicular client based on the first pose data and the first raw positioning data, update, using the second position vector received from the second moving vehicular client, the first pose data according to the first position vector and the second position vector;
- and
- broadcast the updated first pose data to each of a plurality of moving vehicular clients to determine pose data based on the updated first pose data, the plurality of moving vehicular clients including the second moving vehicular client and the third moving vehicular client.
A non-transitory computer readable medium for using a set of vehicles to determine a position and pose of the vehicles in the set, the non-transitory computer readable medium including instructions executable by a hardware server and a first vehicular client processor, wherein the instructions cause the hardware server to:
- receive a first raw positioning data and first pose data from a first moving vehicular client;
- send the first raw positioning data and the first pose data from the first moving vehicular client to a second moving vehicular client such that the second moving vehicular client determines a first position vector relative to the first moving vehicular client based on the first raw positioning data, the first pose data, the second moving vehicular client having a position being in spatial proximity to the first moving vehicular client and temporal proximity to the first moving vehicular client,
- wherein the first raw positioning data is obtained based on signals from satellites;
- in response to the second moving vehicular client determining a second position vector relative to a third vehicular client based on the first pose data and the first raw positioning data, update, using the second position vector received from the second moving vehicular client, the first pose data according to the first position vector and the second position vector;
- and
- broadcast the updated first pose data to each of a plurality of moving vehicular clients to determine pose data based on the updated first pose data, the plurality of moving vehicular clients including the second moving vehicular client and the third moving vehicular client.
Dependencies are inferred from the claim text.