US 12,117,540 B2
Systems and methods for improving localization accuracy by sharing mutual localization information
Hiroshi Yasuda, San Francisco, CA (US); Manuel Ludwig Kuehner, Mountain View, CA (US); and Alexander Christoph Schaefer, Heuweiler (DE)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Nov. 3, 2021, as Appl. No. 17/517,850.
Prior Publication US 2023/0134107 A1, May 4, 2023
Int. Cl. G01S 19/43 (2010.01)
CPC G01S 19/43 (2013.01) 20 Claims
OG exemplary drawing
 
1. A method for improving localization accuracy of a target vehicle comprising:
estimating location of a vehicle coordinate frame for a first vehicle relative to a global reference frame;
identifying a second vehicle proximate to the first vehicle;
estimating location of a vehicle coordinate frame for the second vehicle relative to the global reference frame;
generating a first localization packet based on the estimated location of the vehicle coordinate frame for the first vehicle and the estimated location of the vehicle coordinate frame for the second vehicle;
receiving a second localization packet from the second vehicle, wherein the second localization packet is generated by the second vehicle based on the second vehicle estimating location of the vehicle coordinate frame for the first vehicle and the second vehicle estimating location of the vehicle coordinate frame for the second vehicle;
weighting the first localization packet and the second localization packet by affording greater weight to the localization packet of the vehicle better equipped to determine a vehicle coordinate frame of the target vehicle; and
refining an estimate of location of the target vehicle based on the weighted first localization packet and weighted second localization packet.