US 11,885,893 B2
Localization based on predefined features of the environment
Dana Miller, Pittsburgh, PA (US); James Esper, Pittsburgh, PA (US); Theodore Alden, Pittsburgh, PA (US); Asim Ayaz, Cranberry Township, PA (US); and Michael Oden, Pittsburgh, PA (US)
Assigned to Motional Ad LLC, Boston, MA (US)
Filed by MOTIONAL AD LLC, Boston, MA (US)
Filed on Aug. 7, 2020, as Appl. No. 16/988,094.
Claims priority of provisional application 62/885,629, filed on Aug. 12, 2019.
Prior Publication US 2021/0048540 A1, Feb. 18, 2021
Int. Cl. G01S 19/48 (2010.01); B60W 60/00 (2020.01); B60W 40/10 (2012.01)
CPC G01S 19/48 (2013.01) [B60W 40/10 (2013.01); B60W 60/001 (2020.02); B60W 2420/52 (2013.01); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A system comprising:
one or more computer processors; and one or more non-transitory media storing instructions which, when executed by the one or more computer processors, cause performance of operations comprising:
receiving first localization data of a vehicle and second localization data of the vehicle at a first time, wherein the first localization data is from a first source and the second localization data is from a second source different from the first source;
determining a first difference between the first localization data and the second localization data received at the first time;
based on determining that the first difference between the first localization data and the second localization data satisfies an accuracy criterion, providing a first estimated location of the vehicle based on the first localization data and the second localization data;
receiving first localization data of the vehicle and second localization data of the vehicle at a second time;
determining a second difference between the first localization data and the second localization data received at the second time;
determining that the second difference between the first localization data and the second localization data at the second time does not satisfy the accuracy criterion; and
based on determining that the second difference between the first localization data and the second localization data at the second time does not satisfy the accuracy criterion:
detecting, using one or more images of an environment surrounding the vehicle, one or more predefined features of the environment;
providing a second estimated location of the vehicle based on the one or more predefined features of the environment; and
causing the vehicle to navigate based on the second estimated location of the vehicle.