Localization based on surrounding vehicles
AssigneeMotional AD LLC
InventorsYimu Wang, Ning Xu, Ajay Charan, Yih-Jye Hsu
Life of this patent
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Abstract
Among other things, techniques are described for identifying sensor data from a sensor of a first vehicle that includes information related to a pose of at least two other vehicles on a road. The technique further includes determining a geometry of a portion of the road based at least in part on the information about the pose of the at least two other vehicles. The technique further includes comparing the geometry of the portion of the road with map data to identify a match between the portion of the road and a portion of the map data. The technique further includes determining a pose of the first vehicle relative to the map data based at least in part on the match.
Claims20
A computer-implemented method, comprising:
- identifying, with at least one processor, sensor data from a sensor of a first vehicle, wherein the sensor data includes information related to a pose of at least two other vehicles on a road;
- determining, with the at least one processor, a geometry of a portion of the road based at least in part on the information about the pose of the at least two other vehicles;
- comparing, with the at least one processor, the geometry of the portion of the road with map data to identify a match between the portion of the road and a portion of the map data;
- and
- determining a pose of the first vehicle relative to the map data based at least in part on the match.
One or more non-transitory computer-readable media comprising instructions that, upon execution of the instructions by one or more processors, are to cause a vehicle to:
- identify sensor data from a sensor of a first vehicle, wherein the sensor data includes information related to a pose of at least two other vehicles on a road;
- determine a geometry of a portion of the road based at least in part on the information about the pose of the at least two other vehicles;
- compare the geometry of the portion of the road with map data to identify a match between the portion of the road and a portion of the map data;
- and
- determine a pose of the first vehicle relative to the map data based at least in part on the match.
A vehicle comprising:
- a sensor;
- one or more processors;
- and
- one or more non-transitory computer-readable media comprising instructions that, upon execution of the instructions by the one or more processors, are to cause the vehicle to:
- identify sensor data from the sensor of the vehicle, wherein the sensor data includes information related to a pose of at least two other vehicles on a road;
- determine a geometry of a portion of the road based at least in part on the information about the pose of the at least two other vehicles;
- compare the geometry of the portion of the road with map data to identify a match between the portion of the road and a portion of the map data;
- and
- determine a pose of the vehicle relative to the map data based at least in part on the match.
Dependencies are inferred from the claim text.