Patent ID: 11933616
Assignee: SHENZHEN GUDSEN TECHNOLOGY CO., LTD
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 12:
13. A method for vehicle localization, comprising:
receiving, by a data processing system comprising one or more processors and memory, via one or more sensors on a vehicle, sensor data comprising vertical velocity data, longitudinal velocity data, and a plurality of vertical displacement signals indicating vertical displacement between a body of the vehicle and a ground on which the vehicle traverses;
identifying, by the data processing system, for a first location of the vehicle, a historical road profile of the ground indicative of vertical displacements between the body of the vehicle and the ground at a plurality of locations including the first location;
normalizing, by the data processing system, the vertical velocity data associated with the longitudinal velocity data to a predetermined velocity;
generating, by the data processing system, a current road profile of the ground based on the sensor data comprising the longitudinal velocity data, the vertical velocity data normalized to the predetermined velocity, and the plurality of vertical displacement signals;
determining, by the data processing system, based on lateral displacement data received via the one or more sensors, a lateral deviation of the vehicle;
determining, by the data processing system, a match between the historical road profile and the current road profile at a second location subsequent to the first location that aligns with the lateral deviation; and
providing, by the data processing system, responsive to the match, an indication of a current location of the vehicle as the second location stored in the historical road profile that aligns with the lateral deviation.