US 12,340,691 B2
Vehicular localization systems, methods, and controls
Yu Jiang, Wellesley, MA (US); Vijayaraghavan Sridhar, New York, NY (US); John Parker Eisenmann, Burlington, MA (US); William Graves, Somerville, MA (US); and Michael W. Finnegan, Medford, MA (US)
Assigned to ClearMotion, Inc., Billerica, MA (US)
Appl. No. 17/436,012
Filed by ClearMotion, Inc., Billerica, MA (US)
PCT Filed Mar. 19, 2020, PCT No. PCT/US2020/023610
§ 371(c)(1), (2) Date Sep. 2, 2021,
PCT Pub. No. WO2020/191188, PCT Pub. Date Sep. 24, 2020.
Claims priority of provisional application 62/820,392, filed on Mar. 19, 2019.
Prior Publication US 2022/0189302 A1, Jun. 16, 2022
Int. Cl. G08G 1/0967 (2006.01); B60G 17/015 (2006.01); G01C 21/14 (2006.01); G01C 21/28 (2006.01); G01C 21/36 (2006.01); B60W 60/00 (2020.01)
CPC G08G 1/096708 (2013.01) [G01C 21/14 (2013.01); G01C 21/28 (2013.01); G01C 21/3691 (2013.01); G08G 1/096791 (2013.01); B60G 17/015 (2013.01); B60W 60/001 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2555/20 (2020.02); B60W 2556/50 (2020.02); B60W 2556/65 (2020.02); B60W 2710/22 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for identifying landmarks associated with a surface of a road segment, the method comprising:
with a GPS receiver, determining that a first vehicle is traversing the surface of the road segment;
while the first vehicle traverses the road segment, receiving a sequence of data from a sensor located in the first vehicle, wherein the sensor is selected from the group consisting of an accelerometer, an inertial motion unit, and a displacement sensor, wherein the sequence of data corresponds to vertical motion of a portion of the first vehicle induced by the surface of the road segment, and wherein the portion is selected from the group consisting of a wheel, a wheel assembly and a vehicle body;
dividing the sequence of data into a first series of snippets, wherein each snippet in the first series is associated with a portion of the road segment;
determining a distinctiveness score for each snippet;
identifying a first snippet, wherein the first snippet has a highest distinctiveness score of the first series of snippets;
designating a first portion of the surface of the road segment associated with the first snippet as a first landmark;
removing, from the first series of snippets, at least the first snippet and any snippet that overlaps with the first snippet, to form a second series of snippets;
identifying a second snippet, wherein the second snippet has a highest distinctiveness score of the second series of snippets;
designating a second portion of the road segment associated with the second snippet as a second landmark;
storing, in computer memory, information characterizing the first landmark and the second landmark, and a location of the first landmark relative to a location of the second landmark;
determining a location of a second vehicle based at least on a portion of the information while the second vehicle is traversing the surface of the road segment; and
controlling at least one system of the second vehicle based on the determined location.