Patent ID: 11880199
Assignee: WAYMO LLC
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 13:
14. A non-transitory computer-readable medium storing instructions that are executable by one or more computing devices to perform functions comprising:
controlling motion of an autonomous vehicle based on vehicle pose data, wherein the vehicle pose data is based on sensor data from a first plurality of sensors on the autonomous vehicle, wherein the first plurality of sensors includes at least two sensor types;
receiving first pose data and second pose data, wherein the first pose data is based on first sensor data from the first plurality of sensors, and wherein the second pose data is based on second sensor data from a second plurality of sensors on the autonomous vehicle, wherein the second plurality of sensors includes the two sensor types;
determining a first pose data quality of the first pose data, wherein determining the first pose data quality of the first pose data comprises determining a covariance of the first sensor data from the first plurality of sensors;
determining a second pose data quality of the second pose data, wherein determining the second pose data quality of the second pose data comprises determining a covariance of the second sensor data of the second plurality of sensors; and
controlling motion of the autonomous vehicle based on subsequent vehicle pose data, wherein the first pose data is used as the subsequent vehicle pose data if the first pose data quality is higher than or the same as the second pose data quality, and wherein the second pose data is used as the subsequent vehicle pose data if the second pose data quality is higher than the first pose data quality.