Patent ID: 11875615
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method for fitting an odometry noise model of a vehicle, comprising:
collecting multiple passes of sensor measurements from motion sensors of the vehicle to measure a motion sensor noise during a testing operation of the vehicle;
determining an estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
determining the odometry noise model of the vehicle according to the estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
compensating, using the odometry noise model, the motion sensor noise during normal operation of the vehicle; and
generating a high-definition (HD) electronic map based on a vehicle odometry signal of a fleet of vehicles compensated based on a respective one of the odometry noise model.