Ford Global Technolgoies, LLC

Md Nahid Pervez

Jeremy Lerner

Taylor Hawley

Nitendra Nath

Scott Huggins

Xingping Chen

Andrea Bowes Chowanic

Timothy D Zwicky

Jason Joseph Woo

Brian George Buss

Ganesh Kumar

Natalie Arguello

Syed Ahmed

Michael Feller

Sharnam Shah

A computer includes a processor and a memory storing instructions executable by the processor to determine an estimated pose of a vehicle in a global reference frame having a first error and to determine an estimated second error based on a combination of the first error and a map error, in which the map error represents a difference between the estimated pose of the vehicle in the global reference frame and a corresponding estimated pose in a map-referenced frame. The stored instructions being additionally to predict a third error in a future map-referenced measurement frame based on the estimated second error and a motion model and to compute an update to the third error by combining the predicted third error with an accumulation of instantaneous vehicle position and heading errors obtained via a comparison between a camera-observed feature and a corresponding feature from a digital map.

Vehicle pose estimation

A system includes a processor and a memory storing instructions executable by the processor to control at least one of a steering system or a propulsion system to operate a vehicle at a speed below a speed threshold. The instructions include instructions to determine whether one or more second vehicles a first distance from the vehicle are traveling below the speed threshold. The instructions include instructions to, upon determining the second vehicles are traveling below the speed threshold, continue to control the steering system or the propulsion system. The instructions include instructions to, upon determining the second vehicles are not traveling below the speed threshold, transition control of the steering system or the propulsion system to a human operator of the vehicle.

Vehicle speed and steering control

Growing community of inventors

Palo Alto, CA, United States of America

Md Nahid Pervez