| 摘要 |
Methods and systems for correcting an estimated heading using a map are disclosed. Map data indicative of a map of an environment of a vehicle and data indicative of an estimated heading the vehicle is received. A sensor obtains first spatial data indicative of locations of objects in the environment relative to the vehicle at a first time. A first location of the vehicle on the map is determined based on the first spatial data. The sensor obtains second spatial data indicative of locations of objects in the environment relative to the vehicle at a second time. A second location of the vehicle on the map is determined based on the second spatial data. A heading correction of the vehicle is determined based on the estimated heading, the first location, the first time, the second location, and the second time, and a speed of the vehicle. |
| 主权项 |
1. A method comprising:
receiving, via a processor of a computing device, map data that is indicative of a map of an environment of a vehicle; receiving, from an inertial navigation system associated with the vehicle, data indicative of an estimated heading of the vehicle; receiving first spatial data obtained using a sensor associated with the vehicle, wherein the first spatial data is indicative of locations of objects in the environment relative to the vehicle at a first time; determining a first location of the vehicle on the map based on a comparison of the first spatial data and the map data, wherein the comparison of the first spatial data and the map data comprises determining a gradient-magnitude image based on blurred representations of the first spatial data and the map data; receiving second spatial data obtained using the sensor associated with the vehicle, wherein the second spatial data is indicative of locations of objects in the environment relative to the vehicle at a second time; determining a second location of the vehicle on the map based on a comparison of the second spatial data and the map data, wherein the comparison of the second spatial data and the map data comprises determining a gradient-magnitude image based on blurred representations of the second spatial data and the map data; determining, by the computing device, a heading correction of the vehicle based on the estimated heading, the first location, the first time, the second location, the second time, and a speed of the vehicle; and navigating the vehicle based on the estimated heading and the heading correction. |
