Vehicle localization

Methods, systems, and vehicles are provided for localizing a vehicle. A sensor is configured to detect an object disposed in a generally upward direction from the vehicle while the vehicle is travelling. A processor is coupled to the sensor. The processor is configured to correlate the object with information from a map database, thereby generating a correlation, and determine a geographic location of the vehicle based on the correlation.

TECHNICAL FIELD

The present disclosure generally relates to the field of vehicles and, more specifically, to methods and systems for localizing with respect to a geographic location of the vehicle.

BACKGROUND

Certain vehicles today include systems that obtain information as to a geographic location of the vehicle. For example, many vehicles today include a global positioning system (GPS) and/or another type of system (such as a triangulation system) for obtaining information as to the geographic location of the vehicle. However, such systems generally have a margin of error due to system constraints. Such systems also may have reduced effectiveness at certain times, such as when a bridge, a tunnel, and/or another overhead object may temporarily block or inhibit communication of the system.

Accordingly, it is desirable to provide improved methods for localization of vehicles. It is also desirable to provide improved systems for localization of vehicles, and to provide improved vehicles that include such localization methods and systems. Furthermore, other desirable features and characteristics of the present invention will be apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background.

SUMMARY

In accordance with an exemplary embodiment, a method is provided for localizing a vehicle. The method includes the steps of detecting an object disposed in a generally upward direction from the vehicle while the vehicle is travelling, correlating the object with information from a map database, thereby generating a correlation, and determining a geographic location of the vehicle based on the correlation.

In accordance with another exemplary embodiment, a system is provided for localizing a vehicle. The system comprises a sensor and a processor. The sensor is configured to detect an object disposed in a generally upward direction from the vehicle while the vehicle is travelling. The processor is coupled to the sensor. The processor is configured to correlate the object with information from a map database, thereby generating a correlation, and determine a geographic location of the vehicle based on the correlation.

In accordance with a further exemplary embodiment, a vehicle is provided. The vehicle comprises a body, a drive system, and a localization system. The drive system is disposed within the body. The localization system is disposed within the body, and comprises a sensor and a processor. The sensor is configured to detect an object disposed in a generally upward direction from the vehicle while the vehicle is travelling. The processor is coupled to the sensor. The processor is configured to correlate the object with information from a map database, thereby generating a correlation, and determine a geographic location of the vehicle based on the correlation.

DETAILED DESCRIPTION

FIG. 1illustrates a vehicle100, or automobile, according to an exemplary embodiment. The vehicle100is depicted alongside a remote server102through which the vehicle communicates via a wireless network104. As described in greater detail further below, the vehicle100provides for improved localization of the vehicle's geographic position through the identification of objects located generally upward of the vehicle and correlating information pertaining to the identified objects with a map database of the geographic region in which the vehicle100is travelling.

The vehicle100includes a chassis112, a body114, four wheels116, an electronic control system118, a navigation system119, and a localization system120. The body114is arranged on the chassis112and substantially encloses the other components of the vehicle100. The body114and the chassis112may jointly form a frame. The wheels116are each rotationally coupled to the chassis112near a respective corner of the body114.

The vehicle100may be any one of a number of different types of automobiles, such as, for example, a sedan, a wagon, a truck, or a sport utility vehicle (SUV), and may be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD) or all-wheel drive (AWD). The vehicle100may also incorporate any one of, or combination of, a number of different types of electrical propulsion systems, such as, for example, a gasoline or diesel fueled combustion engine, a “flex fuel vehicle” (FFV) engine (i.e., using a mixture of gasoline and alcohol), a gaseous compound (e.g., hydrogen and/or natural gas) fueled engine, a combustion/electric motor hybrid engine, and an electric motor.

In the exemplary embodiment illustrated inFIG. 1, the vehicle100is a hybrid electric vehicle (HEV), and further includes an actuator assembly121, a rechargeable energy storage system (RESS)122, the above-referenced localization system120, a power inverter assembly (or inverter)126, and a radiator128. The actuator assembly121includes at least one propulsion system129mounted on the chassis112that drives the wheels116.

Specifically, as depicted inFIG. 1, the actuator assembly121includes a combustion engine130and an electric motor/generator (or motor)132. As will be appreciated by one skilled in the art, the electric motor132includes a transmission therein, and, although not illustrated, also includes a stator assembly (including conductive coils), a rotor assembly (including a ferromagnetic core), and a cooling fluid or coolant. The stator assembly and/or the rotor assembly within the electric motor132may include multiple electromagnetic poles, as is commonly understood.

Still referring toFIG. 1, the combustion engine130and the electric motor132are integrated such that one or both are mechanically coupled to at least some of the wheels116through one or more drive shafts134. In one embodiment, the vehicle100is a “series HEV,” in which the combustion engine130is not directly coupled to the transmission, but coupled to a generator (not shown), which is used to power the electric motor132. In another embodiment, the vehicle100is a “parallel HEV,” in which the combustion engine130is directly coupled to the transmission by, for example, having the rotor of the electric motor132rotationally coupled to the drive shaft of the combustion engine130.

The RESS122is electrically connected to the inverter126. In one embodiment, the RESS122is mounted on the chassis112. In one such embodiment, the RESS122is disposed within a cockpit of the vehicle. In another embodiment, the RESS122is disposed underneath a cockpit of the vehicle. The RESS122preferably comprises a rechargeable battery having a pack of battery cells. In one embodiment, the RESS122comprises a lithium iron phosphate battery, such as a nanophosphate lithium ion battery. Together the RESS122and the propulsion system129provide a drive system to propel the vehicle100.

The radiator128is connected to the frame at an outer portion thereof and although not illustrated in detail, includes multiple cooling channels therein that contain a cooling fluid (i.e., coolant) such as water and/or ethylene glycol (i.e., “antifreeze”) and is coupled to the combustion engine130and the inverter126.

The control system118controls various functions pertaining to operation of the vehicle100. In the depicted embodiment, the control system118includes an engine control unit135coupled to the engine130and configured to control the operation thereof. The control system118also includes an RESS control unit136coupled to the RESS122and configured to control the operation thereof. In addition, the control system118includes one or more active safety systems138configured to control aspects of vehicle operation to further improve safety (such as airbag systems, antilock brakes, traction control systems, electronic stability control, dynamic suspension control, and automatic braking, by way of example).

The navigation system119provides information to the driver and/or occupants of the vehicle100as to the geographic location of the vehicle. The navigation system119may similarly provide information as to a route travelled during a current ignition cycle of the vehicle, along with points of interest along or near the route. The navigation system119preferably includes an audio and/or visual display140for the driver with information pertaining to the geographic location and route travelled by the vehicle100. In certain embodiments, the navigation system119also includes telecommunications equipment142, such as one or antennas, transceivers, and/or other communications devices (such as for a global positioning system (GPS) and/or a cellular network system, by way of examples) for obtaining the geographic location and related information. In other embodiments, such communications devices may be part of one or more other vehicle units, such as the localization system120, described directly below.

The localization system120is configured to localize the vehicle100. The term localize (including localization and/or other variations thereof) includes the identification or determination of a geographic location or position of the vehicle100. The localization system120includes a telecommunications system150, a sensor array152, and a computer system154. In addition, although not illustrated as such, the localization system120(and/or one or more components thereof) may be part of the electronic control system118, the navigation system119, and/or one or more other vehicle systems.

The telecommunications system150facilitates communication between the vehicle100(specifically, the localization system120thereof) and the remote server102via the wireless network104. In a preferred embodiment, the telecommunications system150receives data and information from the remote server102pertaining to a first, or initial, indication as to the geographic location of the vehicle100. In addition, in certain embodiments, the telecommunications system150also receives a map database and/or information pertaining thereto from the remote server102. The various types of data and information are provided to the computer system154for use in obtaining a more precise determination as to the geographic location of the vehicle, as described further below.

The telecommunications system150includes one or more transceivers151and antennas153for communication with the remote server102. In certain embodiments, the transceivers151and/or antennas may be part of a separate system or device and coupled to the localization system120. In one example, the telecommunications system150receives the data and information as part of a GPS network. In another example, the telecommunications system150receives the data and information as part of a cellular network and/or another type of radio frequency triangulation from a network.

The sensor array152includes one or more location sensors156and one or more other vehicle sensors157. The one or more location sensors156detect objects that are generally above the vehicle as the vehicle is being driven, and provide information pertaining thereto to the computer system154for processing and for use in determining a second indication of the geographic location of the vehicle, as described further below. In certain embodiments, the location sensors156also provide information pertaining to the height and/or other identifying features of the objects overhead, and similarly provide this information to the computer system154for processing and for use in determining the second indication of the geographic location of the vehicle.

The location sensors156are preferably aimed in a generally upward direction from the vehicle. The location sensors156detect objects that are generally above the vehicle100as the vehicle100is in close proximity to the objects (for example, such that the object is preferably at an angle of at least forty-five degrees with respect to the direction of travel of the vehicle100at the time of detection). In a preferred embodiment, the location sensors156are aimed ninety degrees above a direction of travel of the vehicle, and have a relatively narrow field of view, so that an object is detected immediately above the vehicle. In certain other embodiments, the location sensors156may be aimed less than ninety degrees above the direction of travel. For example, in certain embodiments, the location sensors156may be aimed between forty-five degrees and ninety degrees above the direction of travel, with a relatively wider field of view (for example with a more complex sensor arrangement that can ascertain between multiple objects overhead by minimizing the distance to the objects).

The location sensors156preferably detect fixed objects, such as bridges, tunnels, overhead road signs, overhead street lights, buildings that may be overhead (such as in a downtown area of a large city), and the like, that are generally overhead of the vehicle. The location sensors156are preferably not configured to detect aircraft or other moving vehicles, and the range of the location sensors156is preferably limited so as not to detect, make contact with, or interfere with any aircraft or other vehicle. In one exemplary embodiment, the range of the location sensors is approximately fifty meters.

In one embodiment, the location sensors156comprise one or more lasers that are pointed in a generally upward direction from the vehicle, plus or minus forty-five degrees. In one embodiment, the one or more lasers are pointed upward, ninety degrees above the direction of travel of the vehicle. In certain embodiments, other location sensors156may also be used, such as one or more radar devices, cameras, ultrasonic sensors, light detection and ranging (LIDAR) sensors, and/or ambient light sensors, among other possible sensors. The sensors may be active (transmit and receive) or passive (receive only). The sensors may only detect the presence of an object, detect and provide a distance to an object, or detect and provide both a distance and direction of an object.

The other vehicle sensors157obtain data and information pertaining to the operation of the vehicle. This data and information is provided by the other vehicle sensors157to the computer system154for processing, for use in determining a measure of movement of the vehicle100after the overhead objects are detected, and for determining a third indication of the geographic location of the vehicle, as described further below. In one embodiment, one or more wheel speed sensors, compasses, steering wheel angle sensors, and/or yaw sensors are included in the other vehicle sensors157.

The computer system154is coupled to the telecommunications system150and the sensor array152. The computer system154utilizes the data and information from the telecommunications system150and the sensor array152for localizing the vehicle100. Specifically, the computer system154determines or receives a first, initial indication of the vehicle100's geographic location from the telecommunications system150. In addition, the computer system154uses the first indication, along with the data and information from the location sensors156, in determining a second, or more precise, indication of the vehicle's100geographic location when an object is detected overhead of the vehicle100. The computer system154subsequently determines a third indication of the vehicle's100geographic location based on a measure of movement of the vehicle100away from the overhead object using additional information from the other vehicle sensors157.

In the depicted embodiment, the computer system154includes a processor160, a memory162, an interface164, a storage device166, and a bus168. In certain embodiments, the computer system154may also include one or more of the telecommunications system150, the sensor array152, and/or portions thereof, and/or one or more other devices. In addition, it will be appreciated that the computer system154may otherwise differ from the embodiment depicted inFIG. 1. For example, the computer system154may be coupled to or may otherwise utilize one or more remote computer systems and/or other control systems.

The processor160performs the computation and control functions of the computer system154, and may comprise any type of processor or multiple processors, single integrated circuits such as a microprocessor, or any suitable number of integrated circuit devices and/or circuit boards working in cooperation to accomplish the functions of a processing unit. During operation, the processor160executes one or more programs170contained within the memory162and, as such, controls the general operation of the computer system154and the computer system of the computer system154, preferably in executing the steps of the processes described herein, such as the steps of the process200described further below in connection withFIGS. 2 and 3.

The memory162can be any type of suitable memory. This would include the various types of dynamic random access memory (DRAM) such as SDRAM, the various types of static RAM (SRAM), and the various types of non-volatile memory (PROM, EPROM, and flash). The bus168serves to transmit programs, data, status and other information or signals between the various components of the computer system of the computer system154. In a preferred embodiment, the memory162stores the above-referenced program170along with one or more stored values172for use in localization of the vehicle100. In certain examples, the memory162is located on and/or co-located on the same computer chip as the processor160.

The interface164allows communication to the computer system of the computer system154, for example from a system driver and/or another computer system, and can be implemented using any suitable method and apparatus. It can include one or more network interfaces to communicate with other systems or components. The interface164may also include one or more network interfaces to communicate with technicians, and/or one or more storage interfaces to connect to storage apparatuses, such as the storage device166.

The storage device166can be any suitable type of storage apparatus, including direct access storage devices such as hard disk drives, flash systems, floppy disk drives and optical disk drives. In one exemplary embodiment, the storage device166comprises a program product from which memory162can receive a program170that executes one or more embodiments of one or more processes of the present disclosure, such as the steps of the process200ofFIG. 2as illustrated inFIG. 3, described further below. In another exemplary embodiment, the program product may be directly stored in and/or otherwise accessed by the memory162and/or a disk (e.g., disk174), such as that referenced below.

The bus168can be any suitable physical or logical means of connecting computer systems and components. This includes, but is not limited to, direct hard-wired connections, fiber optics, infrared and wireless bus technologies. During operation, the program170is stored in the memory162and executed by the processor160.

It will be appreciated that while this exemplary embodiment is described in the context of a fully functioning computer system, those skilled in the art will recognize that the mechanisms of the present disclosure are capable of being distributed as a program product with one or more types of non-transitory computer-readable signal bearing media used to store the program and the instructions thereof and carry out the distribution thereof, such as a non-transitory computer readable medium bearing the program and containing computer instructions stored therein for causing a computer processor (such as the processor160) to perform and execute the program. Such a program product may take a variety of forms, and the present disclosure applies equally regardless of the particular type of computer-readable signal bearing media used to carry out the distribution. Examples of signal bearing media include: recordable media such as floppy disks, hard drives, memory cards and optical disks, and transmission media such as digital and analog communication links. It will similarly be appreciated that the computer system of the computer system154may also otherwise differ from the embodiment depicted inFIG. 1, for example in that the computer system of the computer system154may be coupled to or may otherwise utilize one or more remote computer systems and/or other control systems.

FIG. 2is a flowchart of a process200for localizing a vehicle, preferably an automobile, in accordance with an exemplary embodiment. The process200utilizes a detection of an object in a generally upward direction above the vehicle in determining an indication of the geographic location of the vehicle, among other features described below. The process200can be utilized in connection with the vehicle100, including the localization system120thereof, in accordance with an exemplary embodiment.

As depicted inFIG. 2, the process200begins with the step of receiving information from a location network (step202). During step202, information is obtained pertaining to a first indication of the geographic location of the vehicle from the location network. This information is preferably obtained by the processor160ofFIG. 1from the telecommunications system150ofFIG. 1, for example via a GPS network, a cellular network, or another type of radio frequency triangulation from a network. The first indication preferably comprises a relatively “coarse” indication of the geographic location (as compared with the subsequently-determined second and third indications, described further below). In certain embodiments, the last determined value from the location network is utilized, for example in situations in which communications with the location network may be blocked or the location network may not be functioning properly.

A map database is retrieved (step204). The map database includes mapped information pertaining to the general geographic area represented by the first indication of step202. In one embodiment, the map database is stored in the memory162as stored values172thereof and is retrieved by the processor160ofFIG. 1. In another embodiment, the map database (or certain relevant portions thereof pertaining to the current location of the vehicle) is received by the telecommunications system152from the remote server102via the wireless network104and then provided to the processor160. In one embodiment, a three dimensional map database is utilized.

The first indication of the geographic location of the vehicle is identified on the map database (step206). This identification is preferably made by the processor160ofFIG. 1. As part of steps204and/or206, a particular geographic region is identified on the map database corresponding to the current location of the vehicle. In a preferred embodiment, the first identification also includes an identification of the road on which the vehicle is most likely traveling and a direction of travel of the vehicle.

In certain embodiments, other sensor data is also obtained pertaining to the operation of the vehicle (step208). The data of step208preferably includes data indicative of movement of the vehicle, such as a speed and direction of travel of the vehicle. The data of step208is preferably obtained by the vehicle sensors157ofFIG. 1for processing by the processor160ofFIG. 1. In one example, wheel speed values, compasses, steering wheel angle values, and yaw rate values are measured by one or more wheel speed sensors, steering wheel angle sensors, and yaw sensors of the other vehicle sensors157ofFIG. 1and are provided to the processor160ofFIG. 1for processing.

The data from step208is then utilized in certain embodiments in determining one or more measures of vehicle movement (step210). In one preferred embodiment, the processor160ofFIG. 1calculates values of vehicle speed, direction, and distance travelled based on the data obtained in step208.

An updated measure of the geographic location is then determined in certain embodiments (step212). The updated measure preferably comprises an update or extension to the first indication of step202. By way of example, as discussed above, the first indication of step202provides an initial, relatively course, indication of the vehicle's geographic location. The updated measure of step212is preferably determined by the processor160ofFIG. 1.

A determination is then made as to whether updated information is available from the location network of step202(step214). This determination is preferably made by the processor160ofFIG. 1. If it is determined in step214that updated information is available, then updated information from the location network in a new iteration of step202, and a location correction is determined using the updated information (step216), after which the process proceeds to a new iteration of step204as depicted inFIG. 1. The updated correction of step216comprises an updated measure of the geographic location of the vehicle using the updated information from the location network, and is preferably determined by the processor10ofFIG. 1. Conversely, if it is determined in step214that updated information is not available, then the process proceeds directly to the new iteration of step204, described directly below.

The map database is retrieved again in a new iteration of step204. The updated measure of the geographic location of the vehicle of step212is identified on the map in a new iteration of step206. database (step206). This identification is preferably made by the processor160ofFIG. 1. As part of steps204and/or206, a particular geographic region is identified on the map database corresponding to the current location of the vehicle. In a preferred embodiment, the first identification also includes an identification of the road on which the vehicle is most likely traveling and a direction of travel of the vehicle.

Data and information are obtained from location sensors (step218). Preferably, one or more location sensors156ofFIG. 1are aimed generally upward (most preferably ninety degrees above the direction of travel of the vehicle, as described above in connection withFIG. 1), and obtain data and information pertaining to any fixed objects that are generally overhead of the vehicle as it is travelling. In certain embodiments, multiple fixed objects may be detected, so as to help identify the particular object(s).

The data and information pertain to fixed objects such as bridges, tunnels, overhead road signs, overhead street lights, and buildings that are generally overhead of the vehicle and in close proximity to the objects (for example, such that the object is preferably at an angle of at least forty-five degrees with respect to the direction of travel of the vehicle at the time of detection).

In certain embodiments, the data and information of step218include one or more features of the overhead object(s), in addition to the position of the overhead object. For example, in one such embodiment, a height above the vehicle is measured for the overhead object(s) by the location sensors156. In other embodiments, other features may also be measured or obtained, such as, by way of example, a width, length, and/or density of the overhead object.

A determination is made as to whether an overhead object is detected (step220). The determination of step220is preferably made by the processor160ofFIG. 1using the data and information obtained by the location sensor(s)156ofFIG. 1during step218. If it is determined than an overhead object is detected, then the process proceeds to step222, described directly below. Conversely, if it is determined that an overhead object is not detected, then the process instead skips to steps230-234, described further below.

During step222, an initial assessment of the overhead object is made. Specifically, the initial assessment preferably comprises an assessment as to the type of overhead object, such as a bridge, tunnel, road sign, street light, building, or the like. The initial assessment is preferably made by the processor160ofFIG. 1based on the data and information provided by the location sensors156ofFIG. 1from step218.

Information pertaining to the overhead object(s) is correlated with information from the map database (step224). Specifically, the data, information, and/or indications of steps204and206are correlated with the data, information, and assessments of steps218and222. The correlation and accompanying inquiry of step224is preferably performed by the processor160ofFIG. 1. In a preferred embodiment, the data and information of step218and the initial assessment of step222are utilized to find a match on the database. Specifically, a position is identified on the map database of step204proximate a region associated with the first indication of step206in which the overhead object of steps218and222can be found on the map database of step204.

For example, if the initial indication of step206is that the vehicle is on a particular block in a downtown region, and the data, information, and/or initial assessment provide that the vehicle is proximate a street light of a certain height, then, during step224, an inquiry may be provided as to where on the map there is a street light of the particular height along the particular block in which the vehicle is travelling. By way of another example, if the initial indication of step206is that the vehicle is on a particular road and the data, information, and/or initial assessment provide that the vehicle is proximate a bridge of a certain size, then, during step224, an inquiry may be provided as to where on the map there is a bridge of that size along the particular road in which the vehicle is travelling. By way of an additional example, if the initial indication of step206is that the vehicle is on a particular highway near an interchange in which the vehicle could turn in one of multiple directions, and the data, information, and/or initial assessment provide that the vehicle has encountered a particular highway overpass above the vehicle (or, if, the vehicle has travelled underneath a specific number of overpasses above it), then an inquiry can be made during step224as to which lane or turn-off the vehicle has taken for the interchange based on information as to the specific overpasses on the map.

The results from the correlation of step224are utilized in generating a second indication of the geographic location of the vehicle (step226). Specifically, the second indication preferably represents a refinement of the first indication of step202(and/or a refinement of the updated measure of step212), after taking into account the processing of the data and information pertaining to the overhead object(s) during steps218-224. The second indication is preferably determined by the processor160ofFIG. 1during step226using the first indication of step202(and/or the updated measure of step212) and the correlation between the overhead object information and the map database.

Preferably, the first indication of step202(and/or the updated measure of step212) comprises a broader measure of the vehicle's geographic location (within a relatively larger margin of error), and the second indication comprises a more refined estimate of the vehicle's location within a relatively smaller margin of error. With respect to the first example described above, the first indication of step202(and/or the updated measure of step212) may provide a particular block in a downtown area in which the vehicle is travelling, whereas the second indication may provide a specific segment or location along that block (for example, near a traffic light or other object detected above the vehicle). With respect to the second example discussed above, the first indication of step202(and/or the updated measure of step212) may provide a highway segment on which the vehicle is travelling, and the second indication may provide a particular location along that highway underneath a specific bridge. With respect to the third example described above, the first indication of step202(and/or the updated measure of step212) may comprise a measure of a particular highway segment on which the vehicle is travelling near an interchange in which the vehicle could turn in one of multiple directions, and the second indication may provide a specific location along the interchange at which the vehicle is located, including a specific lane of travel or turn-off initiated, based on identifying objects above the vehicle.

In certain embodiments, information regarding the overhead object may also be stored in memory (step228). In one such example, the location of a street light or other object is stored in memory so that the overhead object is more easily recognized in a future drive cycle in which the vehicle may be travelling in same general geographic area. The stored information may also include other information regarding a history of travel of the vehicle, such as a particular route taken often by the vehicle, and the like. The information of step228is preferably stored in the memory162ofFIG. 1by the processor160ofFIG. 1.

In certain embodiments, other sensor data is also obtained pertaining to the operation of the vehicle, in a new iteration of step208. The data of this iteration of step208preferably includes data indicative of movement of the vehicle, such as a speed and direction of travel of the vehicle. The data of this iteration of step208is preferably obtained by the vehicle sensors157ofFIG. 1for processing by the processor160ofFIG. 1after the data pertaining to the overhead object is obtained. In one example, wheel speed values, compasses, steering wheel angle values, and yaw rate values are measured by one or more wheel speed sensors, steering wheel angle sensors, and yaw sensors of the other vehicle sensors157ofFIG. 1and are provided to the processor160ofFIG. 1for processing.

The data from the most recent iteration of step208is then utilized in determining one or more measures of vehicle movement, in a new iteration of step210). In one preferred embodiment, the processor160ofFIG. 1calculates values of vehicle speed, direction, and distance travelled based on the data obtained in the most recent iteration of step208after the overhead object is detected, so as to indicate a magnitude and direction that the vehicle has travelled after the vehicle has passed the overhead object.

A third indication of the geographic location is then determined (step229). The third indication preferably comprises an update or extension to the second indication of step of step226. By way of example, as discussed above, the first indication of step202(and/or the updated measure of step212) provides an initial, relatively course, indication of the vehicle's geographic location. Also as discussed above, the second indication of step226provides a refined indication of the vehicle's geographic location when an identifiable overhead object is above the vehicle. The third indication of step229allows for the refinement (and the accompanying reduced margin of error) of the second indication of step226to be maintained, at least to a degree, for a limited amount of time until the next overhead object is detected. For example, if an overhead traffic light was used in step226to provide a refined indication of the vehicle's geographic location, then the third indication can be used to approximate an updated geographic location using a velocity and direction of travel of the vehicle from the point underneath the traffic light until another overhead object is detected. The third indication of step229is preferably determined by the processor160ofFIG. 1.

The most recent indications of travel are provided to a navigation system (step230). Preferably, the first indication of step202, the updated measure of step212, the second indication of step226, and/or the third indication of step229(whichever is most recent) is provided by the processor160ofFIG. 1to the navigation system119ofFIG. 1in order to convey audio and/or visual information to the driver and/or other occupants of the vehicle as to the current geographic location of the vehicle. Preferably, the current, or most recent, location is provided for the driver in the cockpit of the vehicle.

In addition, in certain embodiments, the most recent indications of the vehicle's geographic location are also fused with data from various other vehicle sensors, systems, and/or devices (step232). During step232, the now localized map information (including the ability to tell the position of various road features relative to the host vehicle given the position of the host vehicle on the map with a high degree of accuracy) is fused with information from other object detection sensors (for example, radar, lidar, camera, ultrasonic, and the like) in order to produce a comprehensive image of the surroundings of the host vehicle.

In one embodiment, during step232, the first indication of step202, the updated measure of step212, the second indication of step226, and/or the third indication of step229(whichever is most recent) is fused with data provided by the other vehicle sensors157ofFIG. 1(such as wheel and/or vehicle speed data, vehicle steering data, vehicle direction data, vehicle braking data, environmental condition data, road condition data, and/or various other types of vehicle-related data) in order to provide a comprehensive, updated set of parameter values pertaining to position and operation of the vehicle.

In certain embodiments, the fused data (and/or separate values of the most recent indications of the geographic location of the vehicle) are provided (step234) to one or more active safety systems of the vehicle for selectively implementing an active safety feature (such as automatic steering, automatic braking, and/or autonomous driving, by way of example), and/or to one or more other vehicle systems, such as those described above in connection with the control system118ofFIG. 1. Preferably, the comprehensive image from step232is used to feed active safety and autonomous driving features as part of step234.

Thus, the process200provides localization for the vehicle100using objects that are detected above the vehicle. The process200ofFIG. 2(and the localization system120ofFIG. 1) can help to improve precision of existing location systems (such as GPS systems and radio frequency triangulation systems), for example, by improving the margin of error in operation of such systems. In addition, when the vehicle is travelling with large objects (such as tunnels, bridges, and the like) overhead, and communications with existing location systems (such as GPS and radio frequency triangulation systems) may be blocked or impaired by the overhead objects, the process200ofFIG. 2(and the localization system120ofFIG. 1) can still provide the location information with enhanced precision.

The steps of the process200are preferably conducted, most preferably continuously, throughout a current ignition cycle of the vehicle. Accordingly, updated values for the first, second, and third indications are preferably continuously determined, and the most recent values are provided for the vehicle navigation system, active safety systems, and/or other vehicle systems for implementation within the vehicle

Turning now toFIG. 3, an illustration is provided of the operating environment of a vehicle (such as the vehicle100ofFIG. 1) using a localization system (such as the localization system120ofFIG. 1) to perform the process200ofFIG. 2, in accordance with an exemplary embodiment. As depicted inFIG. 3, in one embodiment, a location sensor156is disposed at a base302of a front windshield303of the vehicle100ofFIG. 1, and is aimed in an upward direction that is perpendicular to a direction of travel of the vehicle100. The location sensor156(for example, a laser, in one preferred embodiment), emits a signal or beam304in this upward direction. Also as depicted inFIG. 3, the location sensor156receives a return signal or beam307that is reflected from an object306above the vehicle100for detection and identification of the object306, and for use in providing the localization in conjunction with the above-described steps of the process200ofFIG. 2.

Accordingly, methods, systems, and vehicles are provided for localization of a vehicle. The disclosed methods, systems, and vehicles provide for potentially improved localization of the vehicle using detection of objects in a generally upward direction above the vehicle, and correlating information pertaining to the detected objects with a map database. As a result, a determination can be made regarding the location of the vehicle with potentially improved precision as compared with traditional techniques. The information can be used to supplement data from another location system (such as a GPS system or a cellular triangulation system) or, in conjunction with other types of vehicle systems, to fuse data from various systems and/or for use in active safety functionality of the vehicle.

It will be appreciated that the disclosed methods, systems, and vehicles may vary from those depicted in the Figures and described herein. For example, the vehicle100, the localization system120, and/or various components thereof may vary from that depicted inFIG. 1and described in connection therewith. In addition, it will be appreciated that certain steps of the process200may vary from those depicted inFIGS. 2 and 3and/or described above in connection therewith. It will similarly be appreciated that certain steps of the process described above may occur simultaneously or in a different order than that depicted inFIGS. 2 and 3and/or described above in connection therewith.