You are on page 1of 50
(12) INTERNAT (19) World Intellectual Property Organization International Bureau (43) International Publication Date 06 December 2018 (06.12.2018) SS Z WIPO! ONAL APPLICATION PUBLISHED UNDER THE PA’ NT COOPERATION TREATY (PCT) AUTON UE 00 (10) International Publication Number WO 2018/222274 Al PCT G1) International Patent Classiieat GoIs 1907 (201001) GOIS 1941 2010.01) International Applleation Number: PCT/US201902¢ en 210 (22) International Filing Date: (05 April 2018 (05.04.2018) 25) Filing Language: English (26) Publication Language: English 0) Priority Data: 15/610,785 Of June 2017 (01.06.2017) US (71) Applicant: TESLA, INC. [US/US]: 3500 Deer Creek Road, Palo Alto, California 94304 (US), (72) Inventors: CVIETIC, Neda; 136 Azalia Drive, East Pa- Jo Alto, California 94303 (US). COFIELD, Robert; 2680 Fayette Drive, Mountain. View, California 94040 (US), MCCLELLAND, Mark; 1040 Fulton St, #4, San Francis «0, California 94117 (US), POPOVIC, Zeljko; 173 Haight Steet, San Francisco, California 94102 (US). HAVLAK, Francis, 92 Wheeler Ave,, Redwood City, California 94061 (us) (74) Agents METZGER, David, R. etal; Dentons US LLP, P.O, Box 061080, Wacker Drive Station, Wills Tower, Chieago, Ilinois 60606 (US). (81) Designated States (unless osherwise indicated, for every kind of national protection available): AF, AG, AL, AM, ‘AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL,CN, CO, CR; CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, FE, EG, ES, Fl, GB, GD, GE, GH, GM, GT, HIN, HR, HU, ID, IL, IN, IR, 1S, 10, JP, KE, KG, KH, KN, KP KR, KW, KZ, LA, LC, EK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, (OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, sc, (84) Designated States (unless oxherwise indicated, for every Kind of regional provection available: ARIPO (BW, G GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Furasian (AM, AZ, BY, KG, KZ, RU, TI, TM), Furopean (AL, AT, BE, BG, CH, CY, CZ, DE, DK, (Ga) Tike: TECHNOLOGIES FOR VEHICLE POSITIONING ‘usr "toa I tos |_| oan_| see os L a NN S 126 t = I : ' = = + a 8 8 g S G7 abstract: Varios vehicle technologies for improving positioning aovuracy despite various factors that fost signals fom nav= & gatonsticy. Such positioning acca i iureted vi determining an ot nd cmmunicang the oe a Naios Ways oF & sin shanng ot aw postning data between plait of devices, whee a let one knows is oat iit ect or © sein differential algorithms. wo [Continued on nest pag WO 2018/222274 AL [MMIII NNN 1 IU AO AA EE, ES, FI, FR, GB, GR, HR, HU, IF, 1S, IT, LT, LU, LY, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK,S ‘TR), OAPI (BE, BI, CF, CG, Cl, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG), Published: — with intemationai search report (Art. 21(3)) WO 2018/2274 PCT/US2018/026210 TECHNOLOGIES FOR VEHICLE POSITIONING TECHNICAL FIELD [11 This disclosure generally relates to vehicle positioning (also known as localization), and more specifically relates to methods and systems for improving accuracy in position assessment. BACKGROUND [21 A plurality of navigation satellites broadcast a plurality of signals to a positioning receiver such that the positioning receiver is able to determine a position thereof, with a certain accuracy, based on the signals. Some factors, such as satellite geometry, signal blockage, ionospheric perturbation, atmospheric conditions, or others, affect the signals such that that the accuracy of determining the position of the receiver is reduced. For example, a smartphone with a positioning receiver may be able to determine its position to within five meters of the smartphone. The accuracy of the position determination may worsen when the receiver is in proximity of buildings, bridges, trees, or other structures. Although this may be sufficient for some positioning applications, greater accuracy is desirable for other applications, including autonomous driving. Accordingly, there is a desire to provide greater positioning accuracy despite the factors that affect the signals from the navigation satellites. SUMMARY Bl This disclosure discloses one or more inventions that improve positioning accuracy despite the factors that affect the signals from the navigation satellites. The inventions increase such positioning accuracy via determining and applying offsets (corrections) in various ways, or via sharing of raw positioning data between a plurality of devices, where at least one knows its location sufficiently accurately, for use in differential algorithms. For example, some of such techniques can include (a) a reference station sharing a positional offset with an automobile, (b) a reference station calculating and sharing a set of parameters (offsets/corrections) for various error components including atmospheric, orbital, and clock, and/or (c) a reference station