Patent ID: 7610123

Claim:
A method for guiding a vehicle, the method comprising: collecting location data for the vehicle based on a location-determining receiver of a location module associated with the vehicle; collecting vision data for the vehicle based on a vision module associated with the vehicle; estimating a quality of the collected location data during an evaluation time window to form location quality data; estimating a quality of the collected vision data during the evaluation time window to form vision quality data; selecting at least one of a location data weight and a vision data weight to form a selection, wherein the location data weight is based on the location quality data and the vision data weight is based on the vision quality data; and guiding the vehicle in accordance with the selection, wherein the selecting further comprises: identifying a quality-mixing ratio based on respective input values associated with the vision quality data and the location quality data; determining output values associated with the location data weight and the vision data weight based on the identified quality-mixing ratio; and applying the vision data weight and the location data weight to determine relative contributions of the collected vision data and the collected location data to a vehicular guidance system for guiding the vehicle for a time interval.