System of and method for designing reflector array for vehicle localization

A non-transitory computer-readable media having computer-readable instructions stored thereon, which when executed by a processor causes the processor to perform operations comprising:

• defining a boundary of one or more localization regions;
• determining a number and location of unique reflector arrays;
• establishing a set of candidate reflector arrays;
• determining a subset of detectable reflector arrays of the candidate reflector arrays;
• verifying detectability over time of the subset of detectable reflector arrays;
• determining the subset of detectable reflector arrays that are robustly unique under sensor errors and/or reflector perturbations;
• and
• determining whether a sufficient number of detectable and unique reflector arrays have been established.

An apparatus for designing a reflector array for high integrity localization, comprising:

• a memory storing computer-readable instructions;
• and
• a processor connected to the memory, wherein the processor is configured to execute the computer-readable instructions to perform operations to:
• define a boundary of one or more localization regions;
• determine a number and location of unique reflector arrays;
• establish a set of candidate reflector arrays;
• determine a subset of detectable reflector arrays of the candidate reflector arrays;
• verify detectability over time of the subset of detectable reflector arrays;
• determine the subset of detectable reflector arrays that are robustly unique under sensor errors and/or reflector perturbations;
• and
• determine whether a sufficient number of detectable and unique reflector arrays have been established.