Patent ID: 11859994
Assignee: AURORA INNOVATION, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 12:
13. A method for localization of an autonomous vehicle (AV), the method comprising:
by one or more primary control system processors of a primary control system:
determining a first predicted location of a landmark in an environment of the AV,
wherein determining the first predicted location of the landmark is based on a first sensor data instance of first sensor data that is generated by one or more first sensors of the AV;

determining a second predicted location of the landmark in the environment of the AV,
wherein determining the second predicted location of the landmark is based on a determined local pose instance of a local pose of the AV and a stored location, of the landmark, in a stored mapping of the environment,
wherein the determined local pose instance is generated based on a second sensor data instance of second sensor data that is generated by one or more second sensors of the AV, and
wherein the second sensor data instance used to determine the local pose instance temporally corresponds to the first sensor data instance used to determine the first predicted location of the landmark;

generating a correction instance based on comparing the first predicted location of the landmark and the second predicted location of the landmark; and
transmitting the correction instance to a secondary control system;

by one or more secondary control system processors of the secondary control system:
receiving the correction instance;
generating an additional local pose instance of the AV based on the correction instance and based on an additional second sensor data instance of the second sensor data; and
causing the AV to be controlled based on the additional local pose instance.