US 2021/0276577 A1 · LOCALIZATION ERROR MONITORING

Abstract

Localization error monitoring using vehicle state information is described. A computing system associated with a vehicle may determine a current state of the vehicle, such as a location, position, orientation, velocity, acceleration, or the like. The vehicle computing system may determine one or more metrics associated with the state of the vehicle. The metrics may include a variance associated with the state, a residual associated with a measurement corresponding to the state, or a correction factor applied to correct an input error. The computing system may determine whether the metric exceeds a threshold value. Based on a threshold exceedance, the computing system may determine one or more errors associated with a state of the vehicle. The vehicle computing system may control the vehicle based on the one or more errors.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more non-transitory computer-readable media that, when executed by the one or more processors, causes the system to perform operations comprising:
receiving sensor data from a sensor of an autonomous vehicle;
determining, based at least in part on the sensor data, a state of the autonomous vehicle comprising at least one of a location, a position, an orientation, a velocity, or an acceleration of the autonomous vehicle;
determining a metric associated with the state of the autonomous vehicle, wherein the metric comprises at least two of a variance, a residual, or a correction factor;
determining that the metric meets or exceeds a metric threshold;
determining an error in the state of the autonomous vehicle based at least in part on the metric meeting or exceeding the metric threshold;
and
controlling the autonomous vehicle based at least in parton the error.

7 more elements

One or more non-transitory computer-readable media comprising instructions that when executed by one or more processors cause the one or more processors to perform operations comprising:

receiving sensor data from a sensor of a vehicle;
determining, based at least in part on the sensor data, a state of the vehicle associated with at least one of a location, a position, an orientation, a velocity, or an acceleration of the vehicle;
determining a metric associated with the state of the autonomous vehicle, wherein the metric comprises at least two of a variance, a residual, or a correction factor;
determining that the metric meets or exceed a threshold;
and
determining an error in the state of the vehicle based at least in part on the metrics meeting or exceeding the threshold.

3 more elements

Dependencies are inferred from the claim text.

Localization error monitoring

Life of this patent

Localization error monitoring

Life of this patent

Abstract

Claims20