Autonomous vehicle with improved simultaneous localization and mapping function
An autonomous vehicle comprises an environment sensing means for sensing an environment of the autonomous vehicle, and a computing unit configured to perform a mapping function and a localization function. The mapping function is based upon signals supplied from the environment sensing means to build a map. The localization function localizes the autonomous vehicle within the map and generates localization information. The autonomous vehicle further comprises boundary distance sensing means configured to generate a distance signal correlated to a distance between the autonomous vehicle and boundary indication means. The computing unit is configured to receive the distance signal and to perform the mapping function or the localization function based upon a signal from the environment sensing means and the distance signal from the boundary distance sensing means. The system also comprises a boundary wire indicating a border of an area in which autonomous driving of the vehicle can be performed.
1. An autonomous vehicle, comprising:
driving means,
at least one environment sensing means for sensing an environment of the autonomous vehicle, and
a computing unit configured to perform a mapping function on the basis of a sensor signal supplied from the at least one environment sensing means to build up a map and a localization function configured to localize the autonomous vehicle within the map and generate respective localization information,
the autonomous vehicle further comprising a boundary wire sensor configured to generate a distance signal based on a determined signal strength of a boundary wire signal received from a boundary wire, wherein the distance signal is correlated to a distance between the autonomous vehicle and the boundary wire,
wherein the computing unit is configured to receive the distance signal, to perform the mapping function on the basis of the sensor signal and the distance signal by setting the distance signal as a stable reference when a map update is performed by the computing unit on the basis of the sensor signal, and to perform the localization function on the basis of the sensor signal and the determined signal strength by assigning the determined signal strength to one of areas or zones of equal signal strength within the map.
2. The autonomous vehicle according to claim 1 , wherein
the autonomous vehicle is an autonomous gardening device, in particular a lawn mower.
3. A system comprising:
an autonomous vehicle according to claim 1 , and
the boundary wire indicating a border of an entire area in which autonomous driving of the autonomous vehicle shall be performed.
4. The autonomous vehicle according to claim 1 , wherein
the autonomous vehicle further comprises a charging station sensor, which is an electromagnetic field sensor.
5. The autonomous vehicle according to claim 1 , wherein
the at least one environment sensing means comprises a bump sensor, a sonar sensor, an accelerometer, a compass sensor, a camera, or a stereo camera.
6. The autonomous vehicle according to claim 1 , wherein
the autonomous vehicle comprises a control unit for generating control signals for the driving means,
wherein the control unit is configured to generate the control signals on the basis of the map and the localization information such that the autonomous vehicle follows the most direct path that the autonomous vehicle is able to follow towards a charging station for the autonomous vehicle.
7. The autonomous vehicle according to claim 1 , wherein
the computing unit is configured to analyze how long the autonomous vehicle stays in different segments of an entire environment area represented by the map.
8. The autonomous vehicle according to claim 7 , wherein
the autonomous vehicle comprises a control unit for generating control signals for the driving means,
wherein the control unit is configured to generate the control signals on the basis of the map, the localization information, and the analysis result such that the autonomous vehicle follows the most direct path that the autonomous vehicle is able to follow towards a segment for which insufficient stay times are recognized.
9. The autonomous vehicle according to claim 1 , wherein
the localization information includes position information and heading orientation information.
10. The autonomous vehicle according to claim 9 , wherein
the computing unit is configured to estimate the heading position on the basis of signals from at least two electromagnetic field sensors.
11. The system according to claim 3 , wherein
the system further comprises a charging station for charging an energy storage of the autonomous vehicle.