US 12,405,385 B1
Global positioning system time verification for autonomous vehicles
Craig Robinson, Palo Alto, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on May 6, 2024, as Appl. No. 18/655,530.
Application 18/655,530 is a continuation of application No. 17/546,496, filed on Dec. 9, 2021, granted, now 12,007,487.
Claims priority of provisional application 63/132,480, filed on Dec. 31, 2020.
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 19/25 (2010.01); B60W 40/10 (2012.01); G01S 19/39 (2010.01); G01S 19/45 (2010.01); G01S 19/48 (2010.01)
CPC G01S 19/256 (2013.01) [B60W 40/10 (2013.01); G01S 19/396 (2019.08); G01S 19/45 (2013.01); G01S 19/48 (2013.01); B60W 2420/408 (2024.01); B60W 2556/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a global positioning system (GPS) receiver associated with a vehicle;
one or more sensors associated with the vehicle;
a clock associated with the vehicle; and
circuitry coupled to the GPS receiver, the one or more sensors, and the clock, wherein the circuitry is configured to:
verify whether a GPS time is accurate using a sensor-based position of the vehicle, wherein the GPS time is based on data from the GPS receiver and the sensor-based position of the vehicle is based on data from the one or more sensors, wherein the circuitry is configured to verify whether the GPS time is accurate by:
comparing the sensor-based position of the vehicle to a GPS-based position of the vehicle, wherein the GPS-based position of the vehicle is based on the data from the GPS receiver; and
verifying that the GPS time is accurate if the sensor-based position of the vehicle is within a threshold distance from the GPS-based position of the vehicle; and
responsive to verifying that the GPS time is accurate, update the clock based on the GPS time.