US 11,966,225 B2
Localization based on sensor data
Asif Haque, Orinda, CA (US); James Kevin Murphy, San Francisco, CA (US); and Yuanyuan Malek, San Francisco, CA (US)
Assigned to Lyft, Inc., San Francisco, CA (US)
Filed by Lyft, Inc., San Francisco, CA (US)
Filed on Aug. 3, 2020, as Appl. No. 16/983,593.
Application 16/983,593 is a continuation of application No. 15/859,421, filed on Dec. 30, 2017, granted, now 10,732,635.
Prior Publication US 2020/0363807 A1, Nov. 19, 2020
Int. Cl. G05D 1/02 (2020.01); G01C 21/20 (2006.01); G01S 5/00 (2006.01); G01S 19/13 (2010.01); G01S 19/48 (2010.01); G05D 1/00 (2006.01)
CPC G05D 1/0212 (2013.01) [G01C 21/20 (2013.01); G01S 5/011 (2020.05); G01S 19/48 (2013.01); G05D 1/0274 (2013.01); G05D 1/0278 (2013.01); G05D 1/0285 (2013.01); G01S 19/13 (2013.01); G01S 19/485 (2020.05)] 20 Claims
OG exemplary drawing
 
1. A method comprising, by a computing device:
receiving a sequence of location data points associated with a vehicle from a first source and a sequence of motion data points associated with the vehicle from a second source;
determining a first turn angle of the vehicle during a turn trajectory based on at least one location data point in the sequence of location data points associated with the first source wherein the first turn angle corresponds to a first angular rotation of the vehicle about a vertical axis;
determining that an additional location data point in the sequence of location data points is inaccurate;
determining, without using the additional location data point that is inaccurate, a second turn angle of the vehicle during the turn trajectory by using at least one motion data point in the sequence of motion data points corresponding to the additional location data point that is inaccurate, wherein the second turn angle corresponds to a second angular rotation of the vehicle about the vertical axis;
determining the turn trajectory of the vehicle by integrating at least the first turn angle and the second turn angle; and
assigning an operation for the vehicle, wherein the operation for the vehicle is based on the determined turn trajectory.