US 12,067,869 B2
Systems and methods for generating source-agnostic trajectories
Joan Devassy, San Mateo, CA (US); Mousom Dhar Gupta, London (GB); Hugo Oscar Bonay Grimmett, Berlin (DE); Swarn Avinash Kumar, Mountain View, CA (US); and Michal Witkowski, London (GB)
Assigned to Lyft, Inc., San Francisco, CA (US)
Filed by Lyft, Inc., San Francisco, CA (US)
Filed on Jul. 24, 2020, as Appl. No. 16/938,530.
Prior Publication US 2022/0028262 A1, Jan. 27, 2022
Int. Cl. G01C 21/32 (2006.01); G01C 21/00 (2006.01); G01V 7/16 (2006.01); G05D 1/02 (2020.01); G06F 16/22 (2019.01); G06F 16/23 (2019.01); G06F 16/29 (2019.01); G06T 7/73 (2017.01); G06T 17/05 (2011.01); G08G 1/056 (2006.01)
CPC G08G 1/056 (2013.01) [G01V 7/16 (2013.01); G06F 16/22 (2019.01); G06F 16/2365 (2019.01); G06F 16/29 (2019.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
obtaining, by a computing system, (i) a first set of sensor data captured by a first sensor system of a first vehicle, wherein the first set of sensor data indicates the first vehicle's movement and location with a first degree of accuracy and (ii) a second set of sensor data captured by a second sensor system of a second vehicle, wherein the second set of sensor data indicates the second vehicle's movement and location with a second degree of accuracy that differs from the first degree of accuracy;
based on the respective first and second sets of sensor data, generating, by the computing system, respective motion data for each of the respective first and second vehicles during a respective period of operation of the respective vehicle that is separated from Earth's rotational motion by, for each respective vehicle:
for each of a plurality of respective times during the respective period of operation:
determining the Earth's directional gravity vector at a respective time;
removing an effect of the Earth's directional gravity on an acceleration measurement captured by the respective sensor system; and
determining an acceleration and orientation of the respective sensor system of the respective vehicle at the respective time that are independent of the Earth's directional gravity vector and the Earth's magnetic field;
based on the respective motion data generated for the first vehicle, deriving, by the computing system, a first trajectory for the first vehicle that is defined in terms of a source-agnostic coordinate frame rather than a source-specific coordinate frame associated with the first sensor system;
based on the respective motion data generated for the second vehicle, deriving, by the computing system, a second trajectory for the second vehicle that is defined in terms of the source-agnostic coordinate frame rather than a source-specific coordinate frame associated with the second sensor system; and
storing, by the computing system, the first trajectory for the first vehicle and the second trajectory for the second vehicle in a database of source-agnostic trajectories.