US 12,066,527 B2
Method for correcting a previously estimated position of a vehicle
Jean-Michel Hubert, Saint-Germain-en-Laye (FR); and Hugues De Becdelievre, Saint-Germain-en-Laye (FR)
Assigned to EXAIL, Saint-Germain-en-Laye (FR)
Appl. No. 17/287,020
Filed by IXBLUE, Saint-Germain-en-Laye (FR)
PCT Filed Oct. 18, 2019, PCT No. PCT/FR2019/052483
§ 371(c)(1), (2) Date Apr. 20, 2021,
PCT Pub. No. WO2020/084234, PCT Pub. Date Apr. 30, 2020.
Claims priority of application No. 1859750 (FR), filed on Oct. 22, 2018.
Prior Publication US 2021/0389449 A1, Dec. 16, 2021
Int. Cl. G01S 13/89 (2006.01); G01C 21/16 (2006.01); G01S 13/93 (2020.01); G01S 13/937 (2020.01)
CPC G01S 13/89 (2013.01) [G01C 21/1652 (2020.08); G01S 13/937 (2020.01)] 14 Claims
OG exemplary drawing
 
1. A method for correcting the position of a vehicle, the method comprising:
a step of receiving, by the RADAR system installed on said vehicle, a real RADAR image;
a step of acquiring, by a computer installed on said vehicle, an estimated position of the vehicle;
a step of elaborating, by the computer, a simulated RADAR image as a function of the estimated position of the vehicle and of a cartographic model of the vehicle environment;
a step of comparing the real RADAR image and the simulated RADAR image; and
a step of correcting the estimated position of the vehicle as a function of a result of the comparing,
wherein the acquiring, elaborating, and comparing steps are repeated at successive time steps with different estimated positions of the vehicle,
wherein, at the correcting step during a first time step of the successive time steps, defining a pool of uncertainty corresponding to a zone in which the vehicle is located,
wherein, during a second time step of the successive time steps, the acquiring step is repeated using a plurality of estimated positions of the vehicle located within the pool of uncertainty, and
wherein, at the correcting step, the estimated position of the vehicle is corrected as a function of the results of the comparing steps.