US 11,927,449 B2
Using map-based constraints for determining vehicle state
Derik Schroeter, Fremont, CA (US); Di Zeng, Sunnyvale, CA (US); and Mark Damon Wheeler, Saratoga, CA (US)
Assigned to NVIDIA CORPORATION, Santa Clara, CA (US)
Filed by NVIDIA CORPORATION, Santa Clara, CA (US)
Filed on Jun. 10, 2020, as Appl. No. 16/898,005.
Claims priority of provisional application 62/859,493, filed on Jun. 10, 2019.
Prior Publication US 2020/0386555 A1, Dec. 10, 2020
Int. Cl. G01C 21/30 (2006.01); G01S 17/89 (2020.01); G01S 19/42 (2010.01)
CPC G01C 21/30 (2013.01) [G01S 17/89 (2013.01); G01S 19/42 (2013.01)] 33 Claims
OG exemplary drawing
 
1. A method, comprising:
identifying a region within a map based at least on the region corresponding to an area that is within a threshold distance from a determined location of a vehicle;
identifying a road associated with the map that includes at least a portion located within the region, the identifying of the road being based at least on one or more navigable boundaries corresponding to the road, the identifying of the one or more navigable boundaries being based at least on one or more polylines that are at least partially defined based at least on two or more structures;
determining a search space within the map representing an intersection of the region and the road such that the search space is limited to a segment of the road;
performing a localization of the vehicle based at least on the search space, wherein the localization is a particle-filter based localization method that includes determining a plurality of estimated poses that are limited to locations within the search space and in which one or more individual particles used in the particle-filter based localization method represent a respective estimated pose of the estimated poses, at least one of the particles and corresponding poses being evaluated using a nearest-point computation and being assigned a weight corresponding to distance of the nearest-point computation; and
causing performance of one or more autonomous navigation control operations by the vehicle based at least on the localization.