US 12,326,345 B2
Pose correction based on landmarks and barriers
Bin Jia, Columbia, MD (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Oct. 7, 2022, as Appl. No. 18/045,084.
Prior Publication US 2024/0142266 A1, May 2, 2024
Int. Cl. G01C 21/00 (2006.01); G01S 13/931 (2020.01)
CPC G01C 21/3885 (2020.08) [G01S 13/931 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by at least one processor, a radar occupancy grid (ROG), a map, and a pose of a host vehicle;
identifying, by the processor and based on the ROG, one or more ROG landmark locations corresponding to respective ROG landmarks;
identifying, by the processor and based on the map, one or more map landmark locations corresponding to respective map landmarks;
calculating, by the processor and based on the ROG landmark locations and the map landmark locations, association probabilities of one or more candidate pairs of one of the ROG landmarks and one of the map landmarks;
identifying, by the processor and based on the association probabilities, a map landmark and ROG landmark pair comprising an ROG landmark of the ROG landmarks and a map landmark of the map landmarks that correspond to each other;
identifying, by the processor and based on the ROG, an ROG barrier location of an ROG barrier;
identifying, by the processor and based on the map, a map barrier location of a map barrier;
determining, by the processor, one or more ROG first level ripple point locations, the ROG first level ripple point locations being along the ROG barrier location at a radial distance from an ROG landmark location corresponding to the ROG landmark;
determining, by the processor, one or more map first level ripple point locations, the map first level ripple point locations being along the map barrier location at the radial distance from a map landmark location corresponding to the map landmark;
determining, by the processor, based on the ROG first level ripple point locations, the map first level ripple point locations, and a cost function, a pose correction for the pose;
applying, by the processor, the pose correction to the pose to generate an updated pose for the host vehicle;
outputting, by the processor, the updated pose for receipt by a vehicle component of the host vehicle; and
controlling at least one of accelerating, braking and steering of the host vehicle based on the updated pose.