Motional Ad LLC

Yih-Jye Hsu

Yimu Wang

Ajay Charan

Ning Xu

Embodiments are disclosed for localization of vehicles using beacons. In an embodiment, a method comprises: determining, using at least one processor of a vehicle, that the vehicle has lost external signals (or is receiving degraded external signals) that are used for estimating a position of the vehicle; determining, using the at least one processor, a set of mobile beacons that are available to assist in estimating the position of the vehicle; receiving, using a communication device of the vehicle, broadcast signals from the set of mobile beacons, the broadcast signals including localization data for the set of mobile beacons; selecting, using the at least one processor, a subset of localization data from the set of mobile beacons for assisting in the position estimation of the vehicle; and estimating, using the at least one processor, the position of the vehicle using the subset of localization data.

Localization of vehicles using beacons

Among other things, techniques are described for identifying sensor data from a sensor of a first vehicle that includes information related to a pose of at least two other vehicles on a road. The technique further includes determining a geometry of a portion of the road based at least in part on the information about the pose of the at least two other vehicles. The technique further includes comparing the geometry of the portion of the road with map data to identify a match between the portion of the road and a portion of the map data. The technique further includes determining a pose of the first vehicle relative to the map data based at least in part on the match.

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Pittsburgh, PA, United States of America

Yih-Jye Hsu