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:
May. 15, 2018
Filed:
Jun. 08, 2016
GM Global Technology Operations Llc, Detroit, MI (US);
Shuqing Zeng, Sterling Heights, MI (US);
Jeremy A. Salinger, Southfield, MI (US);
Bakhtiar B. Litkouhi, Washington, MI (US);
Joel Pazhayampallil, Bellerose, NY (US);
Kevin A. O'Dea, Ann Arbor, MI (US);
James N. Nickolaou, Clarkston, MI (US);
Mark E. Shields, Plymouth, MI (US);
GM Global Technology Operations LLC, Detroit, MI (US);
Abstract
A method for localizing a vehicle in a digital map. GPS raw measurement data is retrieved from satellites. A digital map of a region traveled by the vehicle based on the raw measurement data is retrieved from a database. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by earth-fixed coordinates. Roadside objects are sensed in the region traveled by the vehicle using distance data and bearing angle data. The sensed roadside objects are matched on the digital map. A vehicle position is determined on the traveled road by fusing raw measurement data and sensor measurements of the identified roadside objects. The position of the vehicle is represented as a function of linearizing raw measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively.