公开(公告)号：US12044535B2

公开(公告)日：2024-07-23

申请号：US18309256

申请日：2023-04-28

申请人： Aurora Operations, Inc.

发明人： Rachel Ahn ,  David Prasser ,  Peter Hansen ,  Robert Zlot

IPC分类号： G01C21/32 ,  G01C21/30 ,  G01S19/45

CPC分类号： G01C21/32 ,  G01C21/30 ,  G01S19/45

摘要： Various examples are directed to systems and methods for locating a vehicle. A pose state estimator may access a previous position for the vehicle at a first time, wherein the previous position is on a first sub-map of a plurality of sub-maps. The pose state estimator may receive from a first localizer a first position estimate for the vehicle at a second time after the first time. The first position estimate may be on a second sub-map of the plurality of sub-maps. The pose state estimator may send to a second localizer a sub-map change message indicating the second sub-map.