Method of augmenting GPS or GPS/sensor vehicle positioning using additional in-vehicle vision sensors
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United States of America Patent
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May 21, 2013
Grant Date -
May 10, 2012
app pub date -
Nov 10, 2010
filing date -
Nov 10, 2010
priority date (Note) -
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Abstract
A method is provided for augmenting GPS data using an in-vehicle vision-based module. A vehicle position is determined utilizing position-related data obtained from a position module. A position error is estimated on a periodic basis. A determination is made whether the position error estimate exceeds a first predetermined error threshold. Tracking data is generated for the vehicle over a course of travel utilizing captured images from the in-vehicle vision based module. The tracking data is integrated with the position-related data to estimate the vehicle position in response to the position error estimate exceeding the first predetermined error threshold. A determination is made whether the position error estimate decreases below a second predetermined error threshold. The vehicle position is re-determined using only the position-related data when the position error estimate decreases below the second predetermined error threshold.
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