Road surface-based vehicle control
Systems and methods for determining the location of a vehicle are disclosed. In one embodiment, a method for localizing a vehicle includes driving over a first road segment, identifying by a first localization system a set of candidate road segments, obtaining vertical motion data while driving over the first road segment, comparing the obtained vertical motion data to reference vertical motion data associated with at least one candidate road segment, and identifying, based on the comparison, a location of the vehicle. The use of such localization methods and systems in coordination with various advanced vehicle systems such as, for example, active suspension systems or autonomous driving features, is contemplated.
1 . A method for determining a location of a vehicle, the method comprising:
determining, by a first localization system of a mobile computing device, a first location of a vehicle, wherein the mobile computing device is removably mounted within a vehicle, and wherein the mobile computing device includes the first localization system and one or more motion sensors, wherein the mobile computing device is selected from a group consisting of a cell phone, a tablet, and a laptop;
identifying, based on the first location, a candidate set of road segments;
sensing, via the one or more motion sensors, sequences of motion of the mobile computing device to obtain vertical motion data;
accessing at least one computer memory storing reference vertical motion data for a plurality of road segments;
comparing the obtained vertical motion data to the stored reference vertical motion data;
based at least partially on the comparison, identifying a specific road segment of the candidate set of road segments.
2 . The method of claim 1 , wherein the mobile computing device is a cell-phone, and wherein the first localization system is a GPS.
3 . The method of claim 1 , wherein the mobile computing device is a cell phone that is attached to the vehicle with a cell phone mount.
4 . The method of claim 1 , wherein
the mobile computing device is programmed to communicate information about the sequences of motion to a controller, wherein
the controller is configured to determine the location of the vehicle based on the sequences of motion.
5 . The method of claim 4 , wherein
the controller is located in a location selected from the group consisting of the vehicle and a remote location.
6 . An apparatus for determining a location of a vehicle, comprising:
a mobile computing device, selected from a group consisting of a cell phone, a tablet, and a laptop, removably located in the vehicle, wherein the mobile computing device is configured to estimate a location of the vehicle based on GPS measurements, and to measure a vertical motion of the vehicle, with a sensor selected from the group consisting of an accelerometer and an IMU;
a controller configured to determine the location of the vehicle based on the GPS measurements and the vertical motion of the vehicle.
7 . The apparatus of claim 6 , wherein the controller is in the vehicle.
8 . The apparatus of claim 6 , wherein the mobile computing device is a cell phone that is attached to the vehicle with a cell phone mount.