US 12,228,410 B2
Localization for autonomous movement using vehicle sensors
Xinkai Zhang, Sunnyvale, CA (US); Sihao Ding, Sunnyvale, CA (US); and Harshavardhan Reddy Dasari, Santa Clara, CA (US)
Assigned to Volvo Car Corporation, Gothenburg (SE)
Filed by Volvo Car Corporation, Gothenburg (SE)
Filed on Jun. 14, 2022, as Appl. No. 17/806,871.
Prior Publication US 2023/0400306 A1, Dec. 14, 2023
Int. Cl. G01C 21/16 (2006.01); B60W 40/105 (2012.01); B60W 40/114 (2012.01)
CPC G01C 21/183 (2020.08) [B60W 40/105 (2013.01); G01C 21/16 (2013.01); B60W 40/114 (2013.01); B60W 2422/95 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01); B60W 2520/28 (2013.01); B60W 2530/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a memory that stores computer executable components; and
a processor that executes the computer executable components stored in the memory, wherein the computer executable components comprise:
an obtaining component that obtains plural sensor readings defining movement of a vehicle, wherein the plural sensor readings comprise an inertial sensor reading, a kinematics sensor reading, and an odometry sensor reading;
a generation component that generates, based on the plural sensor readings, a pose value defining a position of the vehicle relative to an environment in which the vehicle is disposed, wherein the generating comprises:
determining, using a first model, a first pose value defining the position of the vehicle based on a first sensor reading that is one selected from the inertial sensor reading, the kinematics sensor reading, and the odometry sensor reading,
determining, using a second model, a second pose value defining the position of the vehicle based on the first pose value and a second sensor reading that is a different one selected from the inertial sensor reading, the kinematics sensor reading, and the odometry sensor reading that is different from the first sensor reading, wherein the second model is distinct from the first model,
determining, using a third model, a third pose value defining the position of the vehicle based on the second pose value and a third sensor reading that is another different one selected from the inertial sensor reading, the kinematics sensor reading, and the odometry sensor reading that is different from the first sensor reading and the second sensor reading, wherein the third model is distinct from the first model and the second model, and
determining the pose value based on the third pose value; and
an output component that recommends a movement value for movement of the vehicle based on the pose value.