Crowd-sourced road geometry estimation and applications thereof
OwnerAbhishek Gupta, Chunming Qiao +2inventors
InventorsAbhishek Gupta, Chunming Qiao, Lu Su, Sateesh Addepalli
Life of this patent
Estimating the term…
Abstract
A method for collecting road geometry information includes obtaining gyroscope data from a gyroscope of a personal device fixed to a moving vehicle; aligning the gyroscope data with GPS data from a GPS module of the personal device to generate aligned data; matching the aligned data to a nearest road segment based on a preexisting map; determining a time of stable dynamics of the vehicle based on the map and the matched nearest road segment; and correcting a drift of a gyroscope using data from an accelerometer of the personal device during the determined time of stable dynamics.
Claims12
A method for collecting road geometry information, comprising:
- obtaining gyroscope data from a gyroscope of a personal device fixed to a moving vehicle;
- aligning the gyroscope data with GPS data from a GPS module of the personal device to generate aligned data;
- matching the aligned data to a nearest road segment based on a preexisting map;
- determining a time of stable dynamics of the vehicle based on the map and the matched nearest road segment;
- and
- correcting a drift of a gyroscope using data from an accelerometer of the personal device during the determined time of stable dynamics.
A method for estimating road geometry features using crowd-sourced sensor data, comprising:
- collecting gyroscope data, accelerometer data, and GPS data from a plurality of trips over a road segment:
- aggregating the accelerometer data from each trip:
- correcting each of the gyroscope data using the aggregated accelerometer data:
- aggregating the corrected gyroscope data;
- and
- determining the road geometry features based on the aggregated gyroscope data.
A method for speed control of a vehicle, comprising:
- receiving a vehicle velocity and control acceleration signal:
- receiving a speed limit signal and a road grade profile for a current long epoch;
- determining a long-term velocity target and long-term acceleration target for the current long epoch based on the vehicle velocity, the control acceleration signal, the speed limit signal, and the road grade profile:
- receiving vertical curve information for a current short epoch:
- determining a short-term acceleration target for the current short epoch based on the long-term velocity target and long-term acceleration target, and the vertical curve information;
- and
- controlling a vehicle acceleration based on a combination of the short-term acceleration target and the long-term acceleration target.
Dependencies are inferred from the claim text.