Patent ID: 11875615
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 7:
8. A non-transitory computer-readable medium having program code recorded thereon for fitting an odometry noise model of a vehicle, the program code being executed by a processor and comprising:
program code to collect multiple passes of sensor measurements from motion sensors of the vehicle to measure a motion sensor noise during a testing operation of the vehicle;
program code to determine an estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
program code to determine 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;
program code to compensate, using the odometry noise model, the motion sensor noise during normal operation of the vehicle; and
program code to generate 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.