公开(公告)号：US20240353578A1

公开(公告)日：2024-10-24

申请号：US18641112

申请日：2024-04-19

Applicant: VALEO COMFORT AND DRIVING ASSISTANCE

Inventor： Mohamed Radwan ,  Alaaeldin Zaky

IPC: G01S19/49 ,  G01S19/39

CPC classification number: G01S19/49 ,  G01S19/393

Abstract: The disclosure notably relates to a computer-implemented method for localization of a moving vehicle based on GNSS data and vehicle sensor data. The method comprises, in real-time, obtaining vehicle motion data stemming from at least one vehicle sensor. The method also comprises obtaining, while the GNSS signal is available, GNSS data of a positioning of the vehicle. The GNSS data includes a distance variation and an orientation variation. The method also comprises calibrating parameters of an odometer of the vehicle. The calibration is based on a data fusion that uses a Kalman filter. The Kalman filter determines a predicted distance variation and a predicted orientation variation of the vehicle based on a current calibration of the odometer parameters and on the motion data. The Kalman filter also compares the predicted distance variation and predicted orientation variation to the distance variation and the orientation variation of the GNSS data.