US 11,965,965 B2
Localization initialization for autonomous vehicles
Mingcheng Chen, Sunnyvale, CA (US); Colin Braley, Mountain View, CA (US); Craig Lewin Robinson, Palo Alto, CA (US); and Christian Lauterbach, Campbell, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 29, 2021, as Appl. No. 17/388,199.
Application 17/388,199 is a continuation of application No. 16/204,534, filed on Nov. 29, 2018, granted, now 11,105,927.
Prior Publication US 2021/0356596 A1, Nov. 18, 2021
Int. Cl. G01S 17/89 (2020.01); G05D 1/00 (2006.01)
CPC G01S 17/89 (2013.01) [G05D 1/0088 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of localizing a vehicle, the method comprising:
storing in a memory of the vehicle, by a computing device of the vehicle, localization data including biases for a positioning system of the vehicle that are sensitive to temperature;
receiving, by the computing device, user input at an ignition of the vehicle to deactivate the ignition of the vehicle that is currently activated;
in response to the user input, storing in the memory, by the computing device, a first temperature of an environment of the vehicle measured by the computing device;
after the ignition of the vehicle is deactivated and then is again activated, measuring, by the computing device, a second temperature of the environment of the vehicle;
comparing, by the computing device, the stored first temperature measurement to the second temperature measurement to obtain a first result; and
upon manual driving of the vehicle in response to the first result to correct the biases, localizing, by the computing device, the vehicle based, at least in part, on the corrected biases.