Patent Document ID: 9298992
Application ID: 14185391
Patent Status: 1

Claim One:
1. An automated driving system, comprising: one or more sensors disposed on a vehicle; and a computing device in communication with the one or more sensors, comprising: one or more processors for controlling the operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to: identify one or more geographic features, and whether each of the one or more geographic features is in a physical space along a ground plane or in a physical space above the ground plane, based on the information received from the one or more sensors as the vehicle traverses a route; for each of the one or more geographic features, associate it with a horizontal space if it is identified in the physical space along the ground plane, and with a vertical space if it is identified in the physical space above the ground plane; compare each of the one or more geographic features to a geographic feature map representing the route and including previously recorded geographic features to identify matches between each of the one or more geographic features and respective previously recorded geographic features along the route; give each of the comparisons between each of the one or more geographic features and the geographic feature map a weight based at least in part on the space association of its respective of the one or more geographic features; and generate a localized vehicle position based on the weighted comparisons between the one or more geographic features and the geographic feature map.