US 12,461,223 B2
System and methods for vehicle localization using infrastructure sensing
Ashish Pandharipande, Eindhoven (NL); Wilhelmus Johannes van Houtum, Sint-oedenrode (NL); Leendert Albertus Dick van den Broeke, Malden (NL); and Paul Mattheijssen, Boxtel (NL)
Assigned to NXP B.V., Eindhoven (NL)
Filed by NXP B.V., Eindhoven (NL)
Filed on Sep. 22, 2022, as Appl. No. 17/950,360.
Prior Publication US 2024/0103152 A1, Mar. 28, 2024
Int. Cl. G01S 13/58 (2006.01); G01S 13/62 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/582 (2013.01) [G01S 13/62 (2013.01); G01S 13/931 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of radar localization using a radar localization system, the method comprising:
receiving by a computing unit first data from a first radar measurement of an object at a first time, the first data including a first range and a first Doppler measurement;
receiving by the computing unit second data from a second radar measurement of the object at a second time, the second data including a second range and a second Doppler measurement;
determining by the computing unit at least one estimated first position of the object at the first time based on a circle having a radius equal to the first range, and at least one estimated second position of the object at the second time based on a circle having a radius equal to the second range;
comparing by the computing unit the at least one estimated first position of the object and the at least one estimated second position of the object with map data; and
determining by the computing unit an updated first position of the object at the first time and an updated second position of the object at the second time based on the map data, the at least one estimated first position of the object, the at least one estimated second position of the object, and eliminating any estimated locations within the first range and the second range that are not feasible based on the estimated locations being outside the boundaries of a street shown by the map data.