The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 28, 2025
Filed:
Apr. 26, 2023
Ford Global Technologies, Llc, Dearborn, MI (US);
Brian George Buss, Ypsilanti, MI (US);
Sharnam Shah, San Francisco, CA (US);
Md Nahid Pervez, Palo Alto, CA (US);
Ganesh Kumar, Santa Clara, CA (US);
Michael Feller, Farmington Hills, MI (US);
Syed Ahmed, Anaheim, CA (US);
Ford Global Technologies, LLC, Dearborn, MI (US);
Abstract
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.