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

Claim 8:
9. A system comprising:
a first pose measurement system for an autonomous vehicle, comprising:
a first plurality of sensors, wherein the first plurality of sensors includes at least two sensor types; and
a first processor configured to determine first pose data for the autonomous vehicle based on first sensor data from the first plurality of sensors and to determine a first pose data quality of the first pose data based on at least a covariance of the first sensor data;

a second pose measurement system for an autonomous vehicle, comprising:
a second plurality of sensors, wherein the second plurality of sensors includes the two sensor types; and
a second processor configured to determine second pose data for the autonomous vehicle based on second sensor data from the second plurality of sensors and to determine a second pose data quality of the second pose data based on at least a covariance of the second sensor data; and

a vehicle control system comprising a vehicle-control processor and a memory storing instructions executable by the vehicle-control processor to perform functions comprising:
controlling motion of the autonomous vehicle based on vehicle pose data from the first pose measurement system;
receiving the first pose data from the first pose measurement system;
receiving the second pose data from the second pose measurement system; 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.