US 12,314,057 B2
Vehicle radar perception and localization
Ashley Elizabeth Micks, Mountain View, CA (US); Venkatapathi Raju Nallapa, Fairfield, CA (US); Vidya Nariyambut Murali, Sunnyvale, CA (US); and Scott Vincent Myers, Camarillo, CA (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC., Dearborn, MI (US)
Filed on Oct. 8, 2021, as Appl. No. 17/496,925.
Application 17/496,925 is a continuation of application No. 16/052,122, filed on Aug. 1, 2018, granted, now 11,169,534.
Application 16/052,122 is a continuation of application No. 14/856,010, filed on Sep. 16, 2015, granted, now 10,082,797.
Prior Publication US 2022/0026919 A1, Jan. 27, 2022
Int. Cl. G05D 1/02 (2020.01); B60W 30/00 (2006.01); G01C 21/30 (2006.01); G01S 13/86 (2006.01); G01S 19/45 (2010.01); G05D 1/00 (2006.01); G01S 5/02 (2010.01)
CPC G05D 1/0257 (2013.01) [B60W 30/00 (2013.01); G01C 21/30 (2013.01); G01S 13/865 (2013.01); G01S 19/45 (2013.01); G05D 1/0274 (2013.01); G01S 5/0284 (2013.01); G05D 1/024 (2013.01); G05D 1/0278 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
retrieving a high-definition map comprising road position data, lane marking data, and traffic sign data in terms of global positioning system (GPS) coordinates;
retrieving drive history data comprising route geometry information;
receiving radar data from a radar sensor of the vehicle;
receiving image data from a camera of the vehicle;
receiving supplemental data via one or more of a vehicle-to-vehicle communication from a neighboring vehicle or a vehicle-to-infrastructure communication from an infrastructure device;
determining that a quality of the image data output by the camera falls below a threshold image quality based upon an amount of noise present in the image data;
determining that a quality of the radar data output by the radar sensor falls below a threshold radar quality based upon insufficient reflection;
in response to determining the quality of the image data falls below the threshold image quality, and further in response to determining the quality of the radar data falls below the threshold radar quality, generating merged data by merging each of the high-definition map, the drive history data, and the supplemental data; and
identifying a location of the vehicle relative to the high-definition map based on the merged data.