System and method for updating map data

An improved technique for updating the map data in a manner that is compatible with revenue-generating use of an autonomous vehicle (e.g. operating a rideshare program). Benefit information is obtained for at least one possible route and a selected or modified route is based on both the travel times and benefit information. The benefit information may be map-age information, i.e. related to the last time that the segment was visited. The route may be modified or selected to allow the vehicle to collect updated map data for an unmapped road or a road that has not been recently surveyed. The route may optimize the performance of sensor calibration while providing a discount to the rider in exchange for agreeing to a determined route that results in improved sensor calibration, but also deviates from the optimal route. The route may be modified to pass by an advertisement and the discount provided to the rider supplemented by the advertising revenue.

Pothole monitoring

Data received from a vehicle-mounted telematics device comprises accelerometer data and corresponding vehicle location data. The data (processed to be indicative of a roughness of said road) is applied to a model relating roughness data to pothole occurrence to derive a pothole forecast. The model is generated from stored roughness data derived from similarly processed accelerometer data sampled from roads with known pothole occurrence. The processing may comprise determining vertical acceleration size and frequency. The data may be filtered to remove periodic or background accelerations indicating road surface of traffic calming features. Data inputs to the model may comprise combined vertical acceleration data per unit length of road and vehicle speed and outputs may comprise an expected rate of pothole occurrence per unit length. Also disclosed is receiving a pothole forecast for a road at a vehicle and outputting an indication to a driver where it indicates a probability of pothole ...

Unmanned moving objects and method of localization

There is provided a method of localizing on a map, a group of unmanned moving objects operating within an area. Localization is achieved by generating, by a first unmanned moving object, a feature map based on data obtained by one or more obstacle detecting sensors affixed to the first unmanned moving object. A georeferenced position and heading of the first unmanned moving object on the feature map is found by communication between the first unmanned moving object and a plurality of anchors affixed in the area. The feature map is communicated to the other unmanned moving objects by publishing the feature map to a topic subscribed by the other unmanned moving objects. Each of the other unmanned moving objects determines its position and heading on the received feature map, by communication between each of the other unmanned moving objects and the plurality of anchors. One stated benefit is to reduce overall cost by reducing the need for all unmanned moving objects in a group to require ...

Method for routing traffic participants

Computerimplementiertes Verfahren zum Führen von Verkehrsteilnehmern, insbesondere Fußgängern, insbesondere sehbehinderten und blinden Personen, insbesondere zum Führen in städtischen Umgebungen, zwischen mindestens zwei Orten, wobei das Verfahren die folgenden Schritte enthält: A. Bereitstellen einer multimodalen, dreidimensionalen Karte, B. Berechnen einer Route basierend auf der multimodalen, dreidimensionalen Karte, die die mindestens zwei Orte über mindestens einen dazwischenliegenden Wegpunkt verbindet, C. Bestimmen des genauen Standortes des Verkehrsteilnehmers, vorzugsweise unter Verwendung der multimodalen, dreidimensionalen Karte und D. Setzen von Leitpunkten entlang des Pfades an den Wegpunkten.

SYSTEMS AND METHODS OF GENERATING COMPOSITE ROUTING MAPS

Systems and methods for generating a composite map are provided. In one aspect, a method is provided that includes identifying a first node and a source node on a first map. The method further includes determining a candidate source node on a second map that corresponds to the source node on the first map. The method further includes determining a plurality of candidate nodes on the second map that potentially correspond to the first node and selecting a respective candidate node from the plurality of candidate nodes based on a similarity of a routing distance between: the respective candidate node and the candidate source node on the second map and the first node and the source node on the first map. The method may also include connecting the selected respective candidate node and the first node and combining the first map and the second map into a composite map.

SPARSE MAP FOR AUTONOMOUS VEHICLE NAVIGATION

METHOD FOR UPDATING A DIGITAL STREET MAP

METHODS AND SYSTEMS FOR ROADWORK EXTENSION IDENTIFICATION USING SPEED FUNNELS

A solution including a method, a system, and a computer program product are provided herein in accordance with at least one example embodiment for identification of at least one road work extension in a geographical location. The solution includes the process of building and accessing of a map for the geographic location curated with the marking of one or more road work zones corresponding to the at least one road work extensions. The method includes the steps of obtaining multiple speed funnels of a route and validating at least one speed funnel based on the sign value of a last learned speed sign of the speed funnel. The method further generates the road work extension data associated with the road work extension based on the last learned speed sign and a result.

METHOD, APPARATUS, AND SYSTEM FOR PROVIDING A CAMPAIGN MANAGEMENT PLATFORM TO UPDATE MAP DATA

An approach is provided for a campaign management platform to update map data. The approach, for example, involves receiving, by the campaign management platform, a map update request to update the digital map data for a geographic area. The approach also involves generating a sensor data request specifying a sensor data collection event to be performed within the geographic area. The sensor data collection event is part of a campaign to update the digital map for the geographic area. The approach further involves transmitting the sensor data request to a target number of vehicles. The target number of vehicles perform the sensor data collection event in the geographic area to collect sensor data. The approach further involves processing the sensor data to update the digital map data for the geographic area.

Technologies for managing interoperable high definition maps for autonomous vehicles

Technologies for managing interoperable high definition (HD) maps for autonomous vehicles includes a HD map server to distribute interoperable HD map tiles to various autonomous vehicles, each of which may be configured to utilize proprietary HD map tiles of different propriety formats. As such, each of the autonomous vehicles is configured to translate the interoperable HD map tile to the proprietary format used by that particular vehicle. Additionally, each autonomous vehicle may submit crowd-sourced sensor data to the interoperable HD map server using a universal data set by converting the sensor data to a universal data structure.

METHOD AND PROCESSOR CIRCUIT FOR UPDATING A DIGITAL ROAD MAP

СЕНСОР SPR (РАДАР ПОДПОВЕРХНОСТНОГО ЗОНДИРОВАНИЯ) ДЛЯ ПОМОЩИ В ОСУЩЕСТВЛЕНИИ НАВИГАЦИИ ТЕХНИЧЕСКОГО УСТРОЙСТВА

Настоящая группа изобретений относится к использованию SPR-сенсора для навигации технических устройств, способных перемещаться. Техническим результатом является повышение эффективности работы технического устройства, эффективности и чувствительности SPR-сенсора, уменьшение габаритных размеров SPR-сенсора, повышение эффективности навигации технического устройства, содержащего предлагаемый SPR-сенсор. Раскрыто устройство SPR-сенсора, который содержит антенну, передатчик, приемник. Передатчик и приемник расположены непосредственно на элементах. Предлагается техническое устройство, содержащее предлагаемый SPR-сенсор. Раскрыт способ определения местоположения технического устройства, содержащего SPR-сенсор. 3 н. и 14 з.п. ф-лы, 8 ил.

Verfahren zum Erstellen einer merkmalbasierten Lokalisierungskarte für ein Fahrzeug unter Berücksichtigung charakteristischer Strukturen von Objekten

Verfahren zum Erstellen einer merkmalbasierten Lokalisierungskarte für ein Fahrzeug, aufweisend die Schritte:- Ermitteln von Daten wenigstens eines Objekts im Umfeld des Fahrzeugs;- Identifizieren von charakteristischen Strukturen des wenigstens einen Objekts;- Zusammenfassen der charakteristischen Abschnitte zu einer Vereinfachungsstruktur des Objekts; und- Einfügen der Vereinfachungsstruktur in die merkmalbasierte Lokalisierungskarte.

Collecting user-contributed data relating to a navibable network

METHOD AND SYSTEM FOR DEPLOYING CROWD-SOURCED MAGNETIC DISTORTION REJECTION MAP

ROAD MODEL MANAGEMENT BASED ON DELECTIVE FEEDBACK

Systems and methods are provided for interacting with a plurality of autonomous vehicles. In one implementation, a navigation system for a vehicle may include a memory including a predetermined road model representative of at least one road segment and at least one processor. The at least one processor may be programmed to selectively receive, from the plurality of autonomous vehicles, road environment information based on navigation by the plurality of autonomous vehicles through their respective road environments, determine whether one or more updates to the predetermined road model are required based on the road environment information, and update the predetermined road model to include the one or more updates.

System and Method for Generating a Planned Path Using a Phantom Vehicle

Methods and systems that use a phantom vehicle to help generate a planned path for a real-world vehicle are described. The system will identify a starting point and a destination for a trip of the real-world vehicle. The system will select, from the data store of vehicle profiles, a phantom vehicle having an associated motion planning system that corresponds to a system that is deployed on the real-world vehicle. The system will use a high definition map to generate a planned route for the real-world vehicle from the starting point to the destination in the map. The system will run a simulation in which the phantom vehicle moves along the planned route in the map. The system will then output a record of the simulation to a user of the real world-vehicle or to a system of the real-world vehicle.

Data updating device, data updating method, and storage medium storing data updating program

A data updating device sets, with respect to map data in which road links are represented as line segment sequences, a plurality of first straight lines extending in a first direction and a plurality of second straight lines extending in a second direction that intersects with the first direction, to thereby generate mesh map data. Then, the data updating device sets a set L of points or line segments that represent the update location, sets a set V including a plurality of first straight lines, and sets a set H including a plurality of second straight lines. Then, the data updating device sets the state of each mesh based on the set L, the set V, and the set H.

System and method for the dynamic and robust updating of a digital map

A system and a method for the dynamic and robust updating of a digital map for self-driving vehicles are provided. The system includes a server that is configured to determine a non-up-to-date geographical region of the digital map. The system also includes a vehicle fleet having a plurality of self-driving vehicles. The server is configured to determine the geographical position of the vehicles, to select a suitable vehicle from the vehicle fleet, and to instruct the selected vehicle to move to the non-up-to-date region of the digital map. The vehicle is configured to capture, in the non-up-to-date geographical region, data that is suitable for updating the non-up-to-date geographical region of the digital map.

METHOD AND APPARATUS FOR UPDATING AN ENVIRONMENT MAP USED BY ROBOTS FOR SELF-LOCALIZATION

Verfahren zum Betreiben eines Kraftfahrzeugs und Kraftfahrzeug

Die Erfindung betrifft ein Verfahren zum Betreiben eines Kraftfahrzeugs sowie ein dafür eingerichtetes Kraftfahrzeug. Dabei wird eine Karte mit ortsaufgelöst eingetragenen Hochlastereignissen bereitgestellt. In Abhängigkeit von einer aktuellen Position und/oder Route des Kraftfahrzeugs wird ein voraussichtlich während des aktuellen Betriebes des Kraftfahrzeugs relevantes Hochlastereignis ermittelt. Durch entsprechendes automatisches Steuern wenigstens einer Einrichtung des Kraftfahrzeugs wird wenigstens eine bei dem relevanten Hochlastereignis überdurchschnittlich belastete Fahrzeugkomponente thermisch vorkonditioniert, bevor das Kraftfahrzeug einen entsprechenden Ereignisort des relevanten Hochlastereignisses erreicht hat.

Systems and methods for vehicle navigation

Systems and methods are provided for vehicle navigation. In one implementation, a navigation system for a host vehicle includes at least one processor programmed to: receive, from a camera of the host vehicle, one or more images captured from an environment of the host vehicle; analyze the one or more images to detect an indicator of an intersection; determine, based on output received from at least one sensor of the host vehicle, a stopping location of the host vehicle relative to the detected intersection; analyze the one or more images to determine an indicator of whether one or more other vehicles are in front of the host vehicle; and send the stopping location of the host vehicle and the indicator of whether one or more other vehicles are in front of the host vehicle to a server for use in updating a road navigation model.

Systems and methods for vehicle navigation

A host vehicle-based sparse map feature harvester system receives a first image 4510 captured by a forward-facing camera onboard the host vehicle, as the host vehicle travels along a road segment in a first direction; receive a second image 4520 captured by a rearward-facing camera onboard the host vehicle, as the host vehicle travels along the road segment in the first direction. A first semantic feature is detected in the first image, and a position descriptor is associated the feature. A second semantic feature is similarly detected for the second camera. Position information 4570 is received which is indicative of a position of the forward-facing camera when the first image was captured and indicative of a position of the rearward-facing camera when the second image was captured. Drive information for the road segment is transmitted 4580 to an entity remotely located relative to the host vehicle. The drive information includes position information.

UPDATING ROAD MAPS

A technique for updating road maps is disclosed. A number of GPS traces can be matched with a number of roads in a map. Matched GPS traces may be processed by a matched segment module to produce proposed changes to the map. The map can be updated using a map updating module based on the proposed changes from the matched segment module. Unmatched GPS traces may be processed by an unmatched segment module to produce proposed changes to the map. The map can be updated using a map updating module based on the proposed changes from the unmatched segment module. The proposed changes to the map may include metadata defining new roads in the map, new intersections in the map, updates to turn restrictions in the map, updates to the allowable directional traffic flow on the roads within the map, updates to road closures in the map.

METHOD, APPARATUS AND COMPUTER PROGRAM PRODUCT FOR ESTIMATING ACCURACY OF LOCAL HAZARD WARNINGS

Embodiments described herein may provide a method for generating a local hazard warning polygon and establishing a quality score thereof. Methods may include: receiving a plurality of probe data points from a plurality of probes within a mapped region, where each probe data point includes location information and weather condition information; generating, based on a plurality of probe data points indicating an adverse weather condition, a local hazard warning condition polygon including a plurality of local hazard warning condition vertices; receiving weather conditions at each of a plurality of map points within the mapped region; correlating each local hazard warning condition vertex with a respective map point within the mapped region; and establishing a quality score of the local hazard warning condition polygon based on a proportion of the local hazard warning condition vertices indicating an adverse weather condition agreeing with a weather condition at a respective correlated map ...

Method, apparatus, and computer program product for generating an overhead view of an environment from a perspective image

A method, apparatus and computer program product are provided for warping a perspective image into the ground plane using a homography transformation to estimate a bird's eye view in real time. Methods may include: receiving first sensor data from a first vehicle traveling along a road segment in an environment, where the first sensor data includes perspective image data of the environment, and where the first sensor data includes a location and a heading; retrieving a satellite image associated with the location and heading; applying a deep neural network to regress a bird's eye view image from the perspective image data; applying a Generative Adversarial Network (GAN) to the regressed bird's eye view image using the satellite image as a target of the GAN to obtain a stabilized bird's eye view image; and deriving values of a homography matrix between the sensor data and the established bird's eye view image.

Image processing apparatus, image processing method, computer program and computer readable recording medium

Provided is an image processing method. The image processing method includes receiving images acquired from a plurality of vehicles positioned on a road; storing the received images according to acquisition information of the received images; determining a reference image and a target image based on images having the same acquisition information among the stored images; performing an image registration using a plurality of feature points extracted from each of the determined reference image and target image; performing a transparency process for each of the reference image and the target image which are image-registered; extracting static objects from the transparency-processed image; and comparing the extracted static objects with objects on map data which is previously stored and updating the map data when the objects on the map data which is previously stored and the extracted static objects are different from each other.

ENCODING LIDAR SCANNED DATA FOR GENERATING HIGH DEFINITION MAPS FOR AUTONOMOUS VEHICLES

Embodiments relate to methods for efficiently encoding sensor data captured by an autonomous vehicle and building a high definition map using the encoded sensor data. The sensor data can be LiDAR data which is expressed as multiple image representations. Image representations that include important LiDAR data undergo a lossless compression while image representations that include LiDAR data that is more error-tolerant undergo a lossy compression. Therefore, the compressed sensor data can be transmitted to an online system for building a high definition map. When building a high definition map, entities, such as road signs and road lines, are constructed such that when encoded and compressed, the high definition map consumes less storage space. The positions of entities are expressed in relation to a reference centerline in the high definition map. Therefore, each position of an entity can be expressed in fewer numerical digits in comparison to conventional methods.

GENERATION AND USE OF HD MAPS

An apparatus including a processor unit configured to provide a first high-definition map, a sensor unit configured for providing sensor data representing an environmental condition in a periphery of the apparatus and a receiver unit configured to receive data representing a second high-definition map. The processor unit is configured to fuse the second high-definition map and the sensor data so as to provide the first high-definition map. The apparatus further includes a transmitter unit configured for transmitting a result of fusing the second high-definition map and the sensor data, and includes a command generator unit configured to generate a command signal representing a vehicle control command for a vehicle carrying the apparatus based on the first high-definition map.

SYSTEME UND VERFAHREN ZUR FAHRZEUGNAVIGATION

Es werden Systeme und Verfahren zur Fahrzeugnavigation bereitgestellt. In einer Implementierung beinhaltet ein Navigationssystem für ein Host-Fahrzeug mindestens einen Prozessor, der programmiert ist, um: von einer Kamera des Host-Fahrzeugs ein oder mehrere Bilder zu empfangen, die von einer Umgebung des Host-Fahrzeugs erfasst wurden; das eine oder die mehreren Bilder zu analysieren, um einen Indikator einer Kreuzung zu erkennen; basierend auf Ausgabe, die von mindestens einem Sensor des Host-Fahrzeugs empfangen wurde, einen Halteort des Host-Fahrzeugs relativ zu der erkannten Kreuzung zu bestimmen; das eine oder die mehreren Bilder zu analysieren, um einen Indikator zu bestimmen, ob sich ein oder mehrere andere Fahrzeuge vor dem Host-Fahrzeug befinden, und den Halteort des Host-Fahrzeugs und den Indikator, ob sich ein oder mehrere andere Fahrzeuge vor dem Host-Fahrzeug befinden, an einen Server zur Verwendung beim Aktualisieren eines Straßennavigationsmodells zu senden.

System zur Erstellung eines Umgebungsmodells eines Fahrzeugs

System zur Erstellung eines Umgebungsmodells eines Fahrzeugs, das verbunden oder zu verbinden ist, mit:wenigstens einer Navigationseinheit, die dazu eingerichtet ist, Informationen über die aktuelle Position des Fahrzeugs und Informationen über wenigstens einen zeitlich und räumlich vor dem Fahrzeug liegenden Straßenabschnitt bereitzustellen, wobei die Navigationseinheit die Informationen in einem digitalen Kartenformat und/oder in absoluten Positionsinformationen bereitstellt,wenigstens einer Schnittstelle, die dazu eingerichtet, mit wenigstens einem zu fusionierenden Objekt in der Umgebung des Fahrzeugs zu kommunizieren, wobei die von der Schnittstelle empfangenen Informationen absolute Positionsinformationen des wenigstens einen zu fusionierenden Objekts umfassen, und/oderwenigstens einer Sensoreinheit, die dazu eingerichtet ist, wenigstens ein zu fusionierendes Objekt in der Umgebung des Fahrzeugs zu erfassen, wobei die wenigstens eine Sensoreinheit weiter dazu eingerichtet ist, relative ...

GNSS-based map generation

The invention relates to a method and system for an automatic generation of a road map of a construction site or mining site. Data records collected by vehicles equipped with a GNSS-positioning system while driving on the construction site or 5 mining site are provided, each data record comprising a position information representing a two-dimensional or three-dimensional position of the vehicle, an identification reference specific to a corresponding vehicle, a time tag, and a heading information; the data records are assigned to corresponding trips based on the time tag and the identification reference; the trips are mapped within an 10 area; the area is divided into a plurality of uniform tiles; for each tile, a heading information variance of the data records covered by the respective tile is determined; a tile is defined as junction tile, if the tile has a heading information variance higher than a computed threshold variance; an area of interest (Aol) having a perimeter is determined ...

GNSS-based map generation

The invention relates to a method and system for an automatic generation of a road map of a construction site or mining site. Data records collected by vehicles equipped with a GNSS-positioning system while driving on the construction site or 5 mining site are provided, each data record comprising a position information representing a two-dimensional or three-dimensional position of the vehicle, an identification reference specific to a corresponding vehicle, a time tag, and a heading information; the data records are assigned to corresponding trips based on the time tag and the identification reference; the trips are mapped within an 10 area; the area is divided into a plurality of uniform tiles; for each tile, a heading information variance of the data records covered by the respective tile is determined; a tile is defined as junction tile, if the tile has a heading information variance higher than a computed threshold variance; an area of interest (Aol) having a perimeter is determined ...

METHOD AND SYSTEM FOR GENERATING AN ELECTRONIC MAP AND APPLICATIONS THEREFOR

A method, system and apparatus for processing separate data streams comprising, for example, a camera data stream, a Lidar data stream and a GPS data stream is designed to facilitate its use in a variety of exemplary applications.

Method and apparatus for detecting a vehicle parking, stopping, or standing location

An approach is provided for automatic detection of vehicle parking, stopping, and/or standing locations (e.g., parking lots, alleys, loading zones, standing zones, etc.). The approach, for example, involves collecting probe data transmitted from a plurality of vehicles traveling on a road segment. The approach also involves processing the probe data to determine a vehicle behavior indicating a vehicle parking location, a vehicle stopping location, a vehicle standing location, or a combination thereof. The approach further involves flagging the road segment as being associated with the vehicle parking location, the vehicle stopping location, the vehicle standing location, or a combination thereof based on the vehicle behavior to update a geographic database.

SELECTIVE RETRIEVAL OF NAVIGATIONAL INFORMATION FROM A HOST VEHICLE

System and methods for selectively collecting information from a host vehicle. The system may perform operations including causing collection of navigational information associated with an environment traversed by the host vehicle; storing the collected navigational information; determining, based on an output of at least one navigational sensor, a location of the host vehicle; transmitting the determined location of the host vehicle to a server; receiving, from the server and in response to the transmitted determined location, a request for transmission of a selected subset of the navigational information collected by the host vehicle; and transmitting the selected subset of the navigational information to the server.

METHOD, APPARATUS, AND COMPUTER PROGRAM PRODUCT FOR LANE-LEVEL ROUTE GUIDANCE

A method is provided for generating lane-level route guidance. Methods may include generating a first lane-level maneuver pattern between an origin and a destination based on a database of historical probe data points, each probe data point received from a probe apparatus of a plurality of probe apparatuses, where the lane-level maneuver pattern includes a recommended lane of travel along the route between the origin and the destination based on at least one of relative safety, relative popularity, or relative efficiency of the lane-level maneuver pattern; receiving a plurality of real-time or near real-time probe data points; generating an updated lane-level maneuver pattern between the origin and the destination based on the first lane-level maneuver pattern and the plurality of real-time or near real-time probe data points; and providing for route guidance of a vehicle based on the updated lane-level maneuver pattern.

MAP DATA GENERATION APPARATUS

In a map data generation apparatus, probe map data is generated for each of data management units corresponding to (i) road sections, (ii) road links, or (iii) meshes into which a map is divided, based on a plurality of probe data collected from a plurality of vehicles. Difference data are obtained by comparing basic map data with the probe map data; the basic map data is updated based on a plurality of difference data, for each of the data management units. A transient data is discriminated from data corresponding to the probe data or the difference data; the transient data is excluded from the data.

METHOD AND APPARATUS FOR UPDATING CONFIDENCE OF HIGH-PRECISION MAP

A method for updating a confidence of a high-precision map includes: acquiring confidence updating data packets corresponding to target vehicles, wherein the confidence updating data packets include target road element images corresponding to each of the target road elements, shooting position information corresponding to each target road element image and a camera calibration file, or include pieces of first comparison result information corresponding to each of the target road elements; updating an original confidence value corresponding to the target road section in the high-precision map according to the target road element images corresponding to each of the target vehicles, the shooting position information corresponding to each of the target road element images and the camera calibration file; or updating the original confidence value corresponding to the target road section in the high-precision map according to the pieces of first comparison result information corresponding to ...

METHOD AND APPARATUS FOR RISK COMPUTATION OF CONCEALED AREAS ON A STREET

An approach is provided for computation of risk index. The approach, for example, involves acquiring historical probe data associated with an area. The historical probe data comprises data associated with distribution of vehicles entering or leaving the area in a given time partition. The approach further involves obtaining map feature data associated with an entrance or exit of the area, from a geographical database. The map feature data comprises data associated with physical objects in vicinity of the area. The approach further involves computing a risk index for the entrance or the exit for the given time partition, based on the historical probe data and the map feature data. The risk index indicates a probability of occurrence of a hazard in the vicinity of the entrance or the exit. The approach further involves storing the risk index as an attribute of the entrance or the exit in the geographic database.

KOOPERATIVES ABBILDEN FÜR AUTONOME FAHRZEUGE, ROBOTER ODER MULTIAGENTENSYSTEME

Es werden Techniken offenbart, die ein kooperatives Abbilden für eine sichere und effiziente Trajektorienplanung und Kollisionsvermeidung ermöglichen, indem nahegelegene Agenten kontextuelle Informationen gemeinschaftlich verwenden können. Die beschriebenen Techniken fungieren auch, um die Abbildungsreichweite eines einzelnen Agenten zu erweitern, indem von mehreren Agenten gemachte Beobachtungen genutzt werden. Ferner fungieren die hier beschriebenen Techniken, um die Unsicherheit bei der Trajektorienplanung zu reduzieren, indem sie den Agenten ermöglichen, hinter Verdeckungen zu „sehen“ und somit durch benachbarte Agenten aus verschiedenen Blickwinkeln gemachte Beobachtungen zu nutzen. Es wird auch eine effiziente Hardware-Implementierung des Systems vorgestellt, die die hier erörterten Methoden nutzt.

Verfahren, Recheneinrichtung und System zum Kartographieren von Landmarken eines Straßennetzes in einer Straßenkarte

Die Erfindung betrifft ein Verfahren zum Kartographieren von Landmarken (24) eines Straßennetzes (S'), wobei durch eine Recheneinrichtung (25) gemäß einer vorbestimmten Einteilungsvorschrift (V) mittels einer Initialstraßenkarte (30), gemäß welcher jede Straße (S) eine Verbindung zweier Knoten (K) darstellt, jede der Straßen (S) in individuelle Straßenabschnitte (32) unterteilt wird und zu jeder Fahrtrajektorie (20) von Kraftfahrzeugen (12) eine geographische Lage (23) der Fahrtrajektorie (20) ermittelt wird und anhand der ermittelten Lage (23) die Fahrtrajektorie (20) in mehrere Trajektorienabschnitte (42) unterteilt wird, von denen jeder in einem der Straßenabschnitte (32) liegt, und der jeweilige Trajektorienabschnitt (42) diesem Straßenabschnitt (32) zugeordnet wird und aktualisierte Kartendaten (28) für diesen Straßenabschnitt (32) auf der Grundlage von Messdatensätzen (22) der diesem Straßenabschnitt (32) zugeordneten Trajektorienabschnitte (42) mittels eines jeweiligen vorbestimmten ...

Sparse map for autonomous vehicle navigation

Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. In one implementation, a non-transitory computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters. The sparse map has a data density of no more than 1 megabyte per kilometer.

Systems and methods for updating highly automated driving maps

Embodiments of the disclosure provide methods and systems for updating a HAD map using a plurality of terminals. The system may include a communication interface configured to communicate with the plurality of terminals via a network. The system may further include a 5 storage configured to store the HAD map. The system may also include at least one processor. The at least one processor may be configured to identify a target region including at least one changing object. The at least one processor may be further configured to instruct the plurality of terminals to acquire data of the target region at varying view positions, and receive the acquired data from the plurality of terminals. The at least one processor may be further 10 configured to construct a three-dimensional model for the at least one changing object from the acquired data, and update the HAD map based on the three-dimensional model.

Transition detection

A computer implemented method (400) of determining a location of one or more transitions (5a-e) on a map and/or the time at which one or more transitions (5a-e) occurs, the one or more transitions (5a-e) made by a set of mobile computing devices (13a-c), from a first zone (2) to a second zone (4), the method (400) comprising: obtaining (402) trajectory data representing a plurality of trajectories (302 a, b) collected from one or more mobile computing devices (13 a-c), at least some of the trajectories (302 a, b) passing through the first zone (2) and/or the second zone (4); positioning (404) the trajectories (302 a, b) in a frame of reference defined relative to the map, wherein at least part of at least some of the trajectories (302 a, b) are positioned based on correspondence with other trajectories (302 a, b); and processing the plurality of trajectories (302 a, b) positioned in the frame of reference defined relative to the map to determine the location and/or time.

Roadway drivability assessment for mapping and navigation

Described herein are techniques for generating and utilizing drivability maps. The techniques including a method comprising receiving a set of vehicle performance records including a first vehicle performance record comprising a vehicle location, a vehicle configuration, and traction control system information. The method further includes determining, from the set of vehicle performance records, a respective Coefficient of Friction (CoF) value for respective road segments including a first CoF value for a first road segment. The method further includes determining, from the set of vehicle performance records and the respective CoF values, a first CoF threshold for a first vehicle configuration. The method further includes generating a drivability map for the first vehicle configuration indicating different levels of drivability for different road segments based on the respective CoF values for respective road segments and the first CoF threshold for the first vehicle configuration.

System and method for updating, enhancing, or refining a geographic database using feedback

A system for updating, enhancing and/or refining a geographic database is disclosed. The system uses a plurality of data collecting sensors, each of which is installed in a separate one of a plurality of vehicles, each of which travels on roads in a geographic region. Each data-collecting sensor provides outputs indicative of the sensing of one or more features in the geographic region as the vehicle in which it is installed travels. A computer program process compares the outputs of the data collecting sensors to previously obtained data that represent the physical features, determines the significance of the comparisons, and updates, enhances, or refines the data in an existing geographic database accordingly. Data that have been updated, enhanced, or refined, are provided back to end users.

SERVICE AREA COVERAGE FOR AUTONOMOUS VEHICLE FLEETS

A map database stores data describing a set of connected roadways, each having one or more lanes. A coverage system selects lanes from the map database along which AVs can stop, such as parking lanes. The coverage system generates buffer regions for each of the stopping lanes, where each buffer region includes an area within a given distance of the respective lane. The coverage system combines the buffer regions to generate a coverage area, and provides a display of the coverage area overlayed over a map of roads corresponding to the coverage area.

System of vehicles equipped with imaging equipment for high-definition near real-time map generation

Described are street level intelligence platforms, systems, and methods that can include a fleet of swarm vehicles having imaging devices. Images captured by the imaging devices can be used to produce and/or be integrated into maps of the area to produce high-definition maps in near real-time. Such maps may provide enhanced street level intelligence useful for fleet management, navigation, traffic monitoring, and/or so forth.

METHOD AND APPARATUS FOR OPTIMIZING MAP DATA, AND STORAGE MEDIUM

The present disclosure provides a method and apparatus for optimizing map data, a device and a storage medium, relates to the technical field of image processing, and in particular relates to artificial intelligence, intelligent transportation, smart cities and smart cockpits. A specific implementation is: performing a completeness detection of a lane line on received local map data comprising road condition information to obtain a detection result, the detection result comprising the lane line being complete or is the lane line having a missing area; in a case where the detection result is the lane line having the missing area, performing completion processing on the lane line having the missing area to obtain completed local map data; and performing a rationality detection on the completed local map data, and in a case of passing the detection, synthesizing the completed local map data with global map data to obtain an optimization result of map data. The method of the present disclosure ...

Verwertung eines ortsüblichen Verhaltens für automatisierte Fahrfunktionen

Offenbart ist ein Verfahren zur Verwertung von beobachtetem ortsüblichen Verhalten aus historischen Datensätzen in einer Fahrzeugumgebung durch ein Steuergerät, wobei historische Datensätze von Fahrzeugtrajektorien von mindestens einem ersten Fahrzeug und/oder mindestens einem zweiten Fahrzeug empfangen werden, aus den historischen Datensätzen ein ortsübliches Verhalten des ersten Fahrzeugs und/oder des zweiten Fahrzeugs ermittelt wird, anhand des ermittelten ortsüblichen Verhaltens ein registriertes Verhalten des ersten Fahrzeugs, mindestens eines dritten Fahrzeugs oder eine digitale Karte auf Abweichungen geprüft werden, bei einer festgestellten Abweichung des ortsüblichen Verhaltens von einem registrierten Verhalten des ersten Fahrzeugs, einem registrierten Verhalten eines dritten Fahrzeugs oder einer Abweichung des ortüblichen Verhaltens von der digitalen Karte die Ausführung mindestens eine Funktion eingeleitet wird. Des Weiteren sind ein Steuergerät, ein Computerprogramm sowie ein ...

Supplementing electronic map data from user behaviour

SPARSE MAP FOR AUTONOMOUS VEHICLE NAVIGATION

Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. In one implementation, a non-transitory computer-readable medium 5 includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters. The sparse map has a data density of no more than 1 megabyte per kilometer. WO 2016/130719 PCT/US2016/017411 Map ---- - ------ ------- Database 180 128 190 -- -- -- - -- -- -- -- -- -- - -- - - 1 110 Application Image Processor Processor Memory Memory Sensors User Interface ...

SPARSE MAP FOR AUTONOMOUS VEHICLE NAVIGATION

SYSTEMS AND METHODS FOR UPDATING HIGHLY AUTOMATED DRIVING MAPS

Embodiments of the disclosure provide methods and systems for updating a HAD map using a plurality of terminals. The system may include a communication interface configured to communicate with the plurality of terminals via a network. The system may further include a storage configured to store the HAD map. The system may also include at least one processor. The at least one processor may be configured to identify a target region including at least one changing object. The at least one processor may be further configured to instruct the plurality of terminals to acquire data of the target region at varying view positions, and receive the acquired data from the plurality of terminals. The at least one processor may be further configured to construct a three-dimensional model for the at least one changing object from the acquired data, and update the HAD map based on the three-dimensional model.

Apparatus for generating region specific information

DEDUPLICATION OF POINTS OF INTEREST (POIS) FROM DIFFERENT SOURCES

Methods, systems, and computer program products relate to deduplication of points of interest (POIs) from different sources. In some embodiments, a method is disclosed. According to the method, a first set of POIs are obtained from a first source and a second set of POIs are obtained from a second source. The first set of POIs are divided into a plurality of groups of POIs including a first group of POIs. A second group of POIs to be matched with the first group of POIs are determined from the second set of POIs. Duplicated POIs are identified from the first and second sets of POIs by matching the first group of POIs and the second group of POIs. In other embodiments, a system and a computer program product are disclosed.

TRACK RESTORATION METHOD, TRACK RESTORATION DEVICE AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM

A track restoration method, a track restoration device and a non-transitory computer-readable storage medium are provided, related to the field of intelligent transportation. The track restoration method includes: acquiring vehicle-passing data in a target area, where the vehicle-passing data is generated based on shooting data, and the shooting data is obtained by shooting a vehicle in the target area by a shooting device in the target area; restoring a driving track of the vehicle shot by the shooting device, based on the vehicle-passing data.

COMPUTER IMPLEMENTED METHOD FOR GUIDING TRAFFIC PARTICIPANTS

A computer implemented method for guiding traffic participants, especially pedestrians, especially visually impaired and blind people, especially for guiding in urban environments, between at least two places wherein the method contains the following steps: A. Providing a multi-modal three-dimensional map; B. Calculating a route based on the multi-modal three-dimensional map connecting the at least two places over at least one intermediate waypoint; C. Determining precise location of the traffic participant, preferably by using the multi-modal three-dimensional map; and D. Setting beacons along the path at the waypoints.

Method, apparatus, and computer program product for generating a map of road links of a parking lot

A method is provided for gathering probe data and using the gathered data to creating parking lot road link geometry. Methods may include: receiving probe data from a plurality of probes in and around a parking lot; identify a plurality of seed points, where the plurality of seed points are iteratively created from the probe data; generating one or more parking lot road links based on identification of compatible seed points; determining if one or more parking lot road links is within a predefined distance of an end of each of the one or more parking lot road links; forming a T-junction between a first parking lot road link and a second parking lot road link; generating a parking lot map including the one or more parking lot road links; and providing for guidance of a vehicle through the parking lot based on the generated parking lot map.

METHOD, APPARATUS, AND COMPUTER PROGRAM PRODUCT FOR PROBE DATA-BASED GEOMETRY GENERATION

A method is provided for generation of map geometry through rasterization of probe data over time, where the generated map geometry can be used for map element generation. Methods may include: receiving probe data from a plurality of probe apparatuses within a geographic area where the probe data includes location information and time information; rasterizing the received probe data to generate an image corresponding to the probe data associated with the geographic area, where each pixel of the image includes a property representing at least one component of the probe data; processing the image to obtain one or more map elements; and updating a map database with the one or more map elements.

Self-learning safety sign for two-wheelers

Embodiments disclosed herein provide for a method including configuring a self-learning safety sign to: establish vehicle-to-everything (V2X) communications with a two-wheeler equipped with a V2X transceiver and positioned at a ride point and/or ridden along a common and divergent route according to a setup stage for the safety sign; receive ride parameters in the V2X communications from the two-wheeler associated with the positioning and/or riding of the two-wheeler; and analyze the received ride parameters to create a ride model for determining a future route to be taken by any two-wheeler in V2X communication with the safety sign.

MACHINE LEARNING BASED OCCUPANCY GRID GENERATION

In some aspects, a device may receive sensor data associated with a vehicle and a set of frames. The device may aggregate, using a first pose, the sensor data associated with the set of frames to generate an aggregated frame, wherein the aggregated frame is associated with a set of cells. The device may obtain an indication of a respective occupancy label for each cell from the set of cells, wherein the respective occupancy label includes a first occupancy label or a second occupancy label, and wherein a subset of cells from the set of cells are associated with the first occupancy label. The device may train, using data associated with the aggregated frame, a machine learning model to generate an occupancy grid, based on a loss function that only calculates a loss for respective cells from the subset of cells. Numerous other aspects are described.

DEVICE AND METHOD FOR GENERATING LANE INFORMATION

The present disclosure provides a device and method for generating lane information. The method includes obtaining information on a structure located around a vehicle and driving information of a surround vehicle based on information collected by a sensor and prestored navigation information; and generating geometric information on a travel lane of the vehicle in a road area based on the information on the structure and the driving information of the surround vehicle.

METHODS FOR PROCESSING MAP, AND VEHICLE

The invention proposes a method and an apparatus for processing a map, an electronic device, a medium and a vehicle. The method includes: obtaining a plurality of reference maps from vehicle-mounted devices; determining map elements included in the plurality of reference maps and a first element position where each map element is located; and obtaining a target map by fusing the map elements in the plurality of reference maps based on the first element position where each map element is located. The accuracy of the map element position is improved and the consistency between the target map and the real world is then ensured. The cost of data collection and making a map is reduced, the efficiency of making a map and update frequency may be effectively improved, enhancing the timeliness of the map.

Verfahren, mobile Applikation und Navigationseinheit zur Klassifizierung von Verkehrsteilnehmern

Bei dem erfindungsgemäßen Verfahren zur Klassifizierung von Verkehrsteilnehmern werden zeitlich aufeinander folgende Positionen eines Verkehrsteilnehmers erfasst (1). Aus den erfassten Positionen wird ein Bewegungsprofil des Verkehrsteilnehmers ermittelt (2). Durch eine Auswertung des ermittelten Bewegungsprofils wird dem Verkehrsteilnehmer eine von mehreren Kategorien zugeordnet (3). Das Bewegungsprofil kann zusammen mit der zugeordneten Kategorie zur Bearbeitung von digitalen Straßenkarten und/oder Erzeugung von Navigationshinweisen verwendet werden, wobei durch die Unterscheidung der unterschiedlichen Kategorien der Verkehrsteilnehmer eine Verbesserung der Genauigkeit der digitalen Straßenkarten erzielt werden kann bzw. besser für die jeweiligen Verkehrsteilnehmer angepasste Navigationshinweise generiert werden können.

Verfahren zum Betrieb eines Fahrerassistenzsystems

Die Erfindung betrifft ein Verfahren zum Betrieb eines Fahrerassistenzsystems (2) für ein Fahrzeug (1), bei dem- Umgebungsdaten (D) des Fahrzeugs (1) mittels einer fahrzeugeigenen Sensorik (1.1) erfasst und zur Bestimmung einer Position des Fahrzeugs (1) in einer digitalen Umgebungskarte mit in der Umgebungskarte hinterlegten Kartendaten (D) abgeglichen werden,- zur Bestimmung einer Position des Fahrzeugs (1) in einer realen Umgebung Positionsdaten (D) des Fahrzeugs (1) mittels mindestens eines fahrzeugeigenen Satellitenempfängers (1.3) empfangen werden,- die Positionsdaten (D) und mit den Umgebungsdaten (D) abgeglichene Umgebungsdaten (D') einem Positionsfilter (2.2) zugeführt werden, wobei mittels des Positionsfilters (2.2) die Position des Fahrzeugs (1) in der Umgebungskarte plausibilisiert wird, und- in Abhängigkeit einer Genauigkeit der bestimmten Position des Fahrzeugs (1) in der Umgebungskarte ein vollautomatisierter Betrieb des Fahrzeugs (1) freigegeben wird. Erfindungsgemäß ist ...

Verwaltungsverfahren und Verwaltungsgerät

Ein Verwaltungsverfahren zum Verwalten einer Arbeitsumgebung eines Arbeiters, der sich an einem Arbeitsplatz bewegt, beinhaltet: einen Empfangsprozess des Empfangens (i) eines Messwerts, der bei einem Messprozess zum Durchführen einer Umgebungsmessung erhalten wurde, und (ii) von Positionsinformationen, die einen Ort angeben, an dem der Messprozess durchgeführt wurde, von einem mobilen Gerät, das vom Arbeiter bei sich getragen wird; und einen Erstellungsprozess des Erstellens einer Karte unter Bezugnahme auf den Messwert und die Positionsinformationen, die die räumliche Verteilung der Messwerte am Arbeitsplatz zeigt.

Kartenaktualisierungsvorrichtung, Kartenaktualisierungssystem und Kartenaktualisierungsverfahren

Eine Umgebungsinformations-Erlangungseinheit (11) bestimmt, ob ein erstes Fahrzeug auf einer anderen Straße als einer Straße, auf der das Trägerfahrzeug fährt, gefahren ist, auf der Basis von Information, die Straßen und eine um das Trägerfahrzeug herum vorhandene Einrichtung und einen Fahrzustand des ersten Fahrzeugs angibt. Eine Differenzprüfeinheit (13) prüft, ob eine Zielstraße, die durch die Umgebungsinformations-Erlangungseinheit (11) als von dem ersten Fahrzeug befahren bestimmt ist, in einer Trägerfahrzeugkarteninformation in einer Trägerfahrzeuginformation-Speichereinheit (12) beinhaltet ist. Eine drahtlose Kommunikationseinheit (14) fragt an, ob eine unbekannte Zielstraße, die durch die Differenzprüfeinheit (13) als nicht in der Trägerfahrzeugkarteninformation beinhaltet bestätigt ist, in einer Stammkarteninformation in einer Servervorrichtung (20) beinhaltet ist. Außerdem, wenn die unbekannte Zielstraße in der Stammkarteninformation beinhaltet ist, empfängt die drahtlose Kommunikationseinheit ...

Fahrspurnetzdatenerzeugungsvorrichtung, Fahrspurnetzdatenerzeugungsprogramm, und Speichermedium

Die Fahrspurnetzerzeugungsvorrichtung (1) weist auf: eine Alle-Eine-Richtung-Netzdatenerzeugungseinrichtung (2), die Alle-Eine-Richtung-Netzdaten gemäß Verkehrsinformationen von Straßendaten erzeugt, die in Navigationskartendaten enthalten sind; eine Fahrspurnetzdatenerzeugungseinrichtung (3), die Fahrspurnetzdaten für autonomes Fahren basierend auf den Alle-Eine-Richtung-Netzdaten gemäß Informationen einer numerischen Anzahl von Fahrspuren in den Straßendaten erzeugt; eine Virtuelle-Fahrspurbegrenzung-Datenerzeugungseinrichtung (4), die Virtuelle-Fahrspurbegrenzung-Daten basierend auf den Alle-Eine-Richtung-Netzdaten erzeugt; und eine Positionskorrektureinheit (7, 8), die eine Position der Fahrspurnetzdaten und eine Position der Virtuelle-Fahrspurbegrenzung-Daten gemäß Basis-Straßenkarten-Daten und Luftbilddaten korrigiert.

Verfahren zum Berechnen von relativen positiven oder negativen Beschleunigungen mittels Crowdsourcing

Die vorliegende Erfindung betrifft ein Verfahren zum Berechnen von relativen positiven oder negativen Beschleunigungen (RPA, RNA) mittels Crowdsourcing mit den folgenden Schritten: a) Generieren einer digitalen Karte (1), in der verschiedene Streckenabschnitte (A, B, C,..., M) durch Knoten (n) miteinander verbunden sind; b) Berechnen einer relativen positiven oder negativen Beschleunigung (RPA, RNA) von einem in einem Streckenabschnitt (A, B, C,..., M) fahrenden Fahrzeug (2.1, 2.2) für diesen Streckenabschnitt (A, B, C,..., M), wobei die relative positive oder negative Beschleunigung (RPA, RNA) im Fahrzeug (2.1, 2.2) berechnet und an ein Backend (3) gesendet wird oder wobei das Fahrzeug (2.1, 2.2) Daten, die gegenwärtige Geokoordinaten, gegenwärtige Fahrzeuggeschwindigkeiten und/oder gegenwärtige Fahrzeugbeschleunigungen aufweisen, zu einem Backend (3) sendet, das daraus die relative positive oder negative Beschleunigung (RPA, RNA) von dem Fahrzeug (2.1, 2.2) für diesen Streckenabschnitt ...

Method and system using mapped emotions

This system collects data relating to an emotional state of individuals associated with a traffic network, wherein the data comprises location of the individuals and time of the emotional state. An emotional value based on the data of each individual is determined, and a digital map layer 100 of the traffic network is generated having a representation of the emotional values displayed thereon. If the emotional value of a geographical area of the traffic network goes beyond a threshold value a message is sent to a vehicle in or going towards the geographical area of the traffic network to cause the at least one vehicle to lower the emotional value of the geographical area. The lowering of the emotional value of the area may be achieved by navigating away from the area (avoiding the area) or by increasing the comfort level of the operator. The comfort level may be improved by adjusting the temperature, playing soothing music or releasing a fragrance.

Systems and methods for vehicle navigation

Systems and methods for determining road safety

A system for determining safety of a road segment may include at least one processor programmed to receive, from a first vehicle, first navigation information associated with the road segment. The first navigation information may include information collected by a first sensor of the first vehicle from an environment of the first vehicle. The at least one processor may also be programmed to receive, from a second vehicle, second navigation information associated with the road segment. The second navigation information may include information collected by a second sensor of the second vehicle from an environment of the second vehicle. The at least one processor may further be programmed to determine, based on the first navigation information and the second navigation information, a score representative of the safety of the road segment, and transmit, to a third vehicle, the score representative of the safety of the road segment.

Method for verifying map data of an environment of a vehicle

Map data 10 of an environment of a vehicle 20 is verified by transmitting map data 10 to the vehicle 20 from a control unit 1, wherein the map data relates to an area of a position of the vehicle 20. Verification information is transmitted from the vehicle 20 to the control unit 1, which characterizes a comparison between a representation of the area in the map data 10 and a representation of the area in sensor data of the first vehicle taken at a first time. At a second, later time, a second vehicle 21 travels through the area. The map data 10 is transmitted from the control unit 1 to the second vehicle 21 depending on the time difference between the first and second times (and whether this difference meets a threshold).The map data is transmitted from the control unit 1 to the second vehicle 21 depending on the verification information. Optionally, the map data 10 are transmitted if the verification finds that the map data 10 is accurate. The second vehicle 21 may also carry out a further ...

METHOD FOR UPDATING A DIGITAL ROAD MAP

The invention relates to a method for updating a digital road map in which road segments having segment lengths are stored. The method includes equipping at least two vehicles with at least one respective onboard unit generating position readings; if a first set of position readings of a first onboard unit can be associated with a road segment, determining a first path length based on the position readings of the first set; if a second set of position readings of a second onboard unit can be associated with the same road segment, determining a second path length based on the position readings of the second set; calculating an average path length based on at least the first and second path lengths; and if the average path length deviates from the stored segment length, storing the average path length as an updated stored segment length of this road segment in the digital road map.

SYSTEMS AND METHODS FOR EFFECTING MAP LAYER UPDATES BASED ON COLLECTED SENSOR DATA

Examples disclosed herein may involve a computing system configured to (i) maintain a map that is representative of a real-world environment, the map including a plurality of layers that are each encoded with a different type of map data, (ii) obtain sensor data indicative of a given area of the real-world environment, (iii) based on an evaluation of the obtained sensor data and map data corresponding to the given area, detect that a change has occurred in the given area, (iv) based on the collected sensor data, derive information about the detected change including at least a type of the change and a location of the change, (v) based on the derived information about the detected change, determine that one or more layers of the map is impacted by the detected change, and (vi) effect an update to the one or more layers of the map based on the derived information about the change.

Autonomous vehicle navigation based on recognized landmarks

A system for autonomously navigating a vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device at least one image representative of an environment of the vehicle. The processor may also be programmed to analyze the at least one image to identify at least one recognized landmark. Further, the processor may be programmed to determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark. In addition, the processor may be programmed to determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory.

TECHNIQUES FOR COLLABORATIVE MAP CONSTRUCTION BETWEEN AN UNMANNED AERIAL VEHICLE AND A GROUND VEHICLE

Techniques are disclosed for collaborative map construction using multiple vehicles. Such a system may include a ground vehicle including a first computing device and a first scanning sensor, and an aerial vehicle including a second computing device and a second scanning sensor. The ground vehicle can obtain a first real-time map based on first scanning data using the first scanning sensor, and transmit a first real-time map and position information to the aerial vehicle. The aerial vehicle can receive the first real-time map and the position information from the first computing device, obtain a second real-time map based on second scanning data collected using the second scanning sensor, and obtain a third real-time map based on the first real-time map and the second real-time map.

SYSTEMS AND METHODS FOR VEHICLE NAVIGATION

Systems and methods are provided for vehicle navigation. In one implementation, a system for identifying objects in an environment of a host vehicle may comprise at least one processor. The processor may be programmed to receive, from an image capture device, an image representative of the environment of the host vehicle and analyze the image to detect objects represented in the image. The processor may compare position information for the objects to location information for mapped objects represented a navigational map segment to determine a first estimated position of the host vehicle. The processor may further provide the image and an identifier associated with the map segment to a trained system and receive a second estimated position of the host vehicle. The processor may determine a navigational action based on a combination of the first and second estimated positions and cause the host vehicle to implement the determined navigational action. 1. A navigation system for a host vehicle , the system comprising: receive, from an image capture device, at least one image representative of an environment of the host vehicle;', 'analyze the at least one image to detect a presence of one or more objects represented in the at least one image;', 'determine position information relating to the one or more detected objects based on the analysis of the at least one image;', 'compare the position information, relating to the one or more detected objects, to location information for one or more mapped objects represented in at least one navigational map segment;', 'based on the comparison, determine a first estimated position of the host vehicle relative to the at least one navigational map segment;', 'provide to a trained system at least a portion of the at least one image and at least an identifier associated with the at least one navigational map segment;', 'receive, from the trained system, a second estimated position of the host vehicle relative to the at least one ...

Interactive 3D point cloud matching

Systems and methods are disclosed related to generating an interactive user interface that enables a user to move, rotate or otherwise edit 3D point cloud data in virtual 3D space to align or match point clouds captured from LiDAR scans prior to generation of a high definition map. A system may obtain point cloud data for two or more point clouds, render the point clouds for display in a user interface, then receive a user selection of one of the point clouds and commands from the user to move and/or rotate the selected point cloud. The system may adjust the displayed position of the selected point cloud relative to the other simultaneously displayed point cloud(s) in real time in response to the user commands, and store the adjusted point cloud position data for use in generating a new high definition map.

UPDATING HIGH DEFINITION MAPS BASED ON AGE OF MAPS

A computer-implemented method may include monitoring an age of a tile of a map, where the map includes multiple tiles including the tile. The method may also include, based on the age exceeding a threshold age, determining that the tile of the map is to be updated, and receiving a location indicator from a vehicle. The method may additionally include transmitting an update message to a vehicle traversing a track within the tile as indicated by the location indicator, where the update message includes instructions to cause the vehicle to gather and submit sensor data to a computing system. The method may also include receiving the sensor data from the vehicle, and updating the tile of the map based on the received sensor data.

AUTONOMOUS VEHICLE SPEED CALIBRATION

Systems and methods may calibrate an indicator of speed of an autonomous vehicle. In one implementation, a system may include at least one processor programmed to: receive from a camera at least a plurality of images representative of an environment of the vehicle; analyze the plurality of images to identify at least two recognized landmarks; determine, based on known locations of the two recognized landmarks, a value indicative of a distance between the at least two recognized landmarks; determine, based on an output of at least one sensor associated with the autonomous vehicle, a measured distance between the at least two landmarks; determine a correction factor for the at least one sensor based on a comparison of the value indicative of the distance between the at least to recognized landmarks and the measured distance between the at least two landmarks.

ROAD EVENT DETECTION METHOD, APPARATUS, DEVICE AND STORAGE MEDIUM

The present application discloses a road event detection method, an apparatus, a device and a storage medium, and relates to artificial intelligence, big data, intelligent transportation, automatic driving, and cloud computing technologies in data processing. A specific implementation is that: by obtaining road images collected and returned by multiple vehicles within a historical period, and performing image processing on single-frame road images to determine road events included in the road images, types and/or locations of the road events can be located accurately; further, by performing clustering on road event data of multiple frames of road images including the road events to obtain all road events occurring within the historical period and road event information, all road events occurring within the historical period can be determined accurately, and the types and/or the locations of the road events can be determined accurately, thereby improving the accuracy of road event detection. 1. A road event detection method , comprising:obtaining road images collected and returned by multiple vehicles within a historical period;performing image processing on the road images to determine road events comprised in the road images;performing multi-frame data clustering on all road images comprising the road events to determine a road event occurring within the historical period, wherein the road event has road event information, and the road event information comprises an event type and/or event location information; andupdating map data according to the road event information of each road event.2. The method according to claim 1 , wherein the obtaining the road images collected and returned by multiple vehicles within the historical period comprises:sending data return tasks to the multiple vehicles, wherein the data return tasks are used to instruct the multiple vehicles to collect and return the road images according to a collection rule, wherein the collection rule ...

Map creation and localization for autonomous driving applications

An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.

AUTOMATIC DETECTION OF SEGMENT WIDTH EXPANSION USING PROBE DATA

A method, apparatus and computer program product are provided to automatically detect changes in width of road segments in real-time or near real-time using probe data, such as probe data collected from vehicle and/or mobile devices traveling along a road segment. Probe data collected in real-time or near real-time is partitioned in order to identify width-defining portions of the probe data. The width-defining portions may be representative of the laterally-extreme lanes of the road segment, such as the left-most lane and the right-most lane. The width-defining portions are compared to corresponding width-defining portions of historical probe data to determine measures indicative of whether a road segment has expanded or narrowed. Indications of detected segment width changes may be provided to drivers and/or other systems or users. For example, map data for the road segment may be updated to reflect a detected width expansion or narrowing of the road segment.

MAP GENERATION APPARATUS, MAP GENERATION PROGRAM AND ON-VEHICLE EQUIPMENT

A server is provided with a probe data acquiring unit that acquires probe data from a plurality of vehicles; a signal information identifying unit that identifies, for a plurality of signals in an intersection, signal information related to respective signals based on the probe data; a stop line information identifying unit that identifies, for a plurality of stop lines in the intersection, stop line information related to respective stop lines based on the probe data; and a pairing unit that identifies, using a method for identifying a plurality of pairing candidates, a combination of the signal and the stop line as a pairing candidate among a plurality of signals in the intersection and a plurality of stop lines in the intersection, and pairs the signal information and the stop line information based on an identification result of the combination.

Data Processing Method and Apparatus, and Computer-Readable Storage Medium

A map cloud allocates an identification code to a vehicle, maintains a correspondence between the identification code and a data processing manner, and sends the identification code to the vehicle. When reporting data, the vehicle reports the identification code allocated to the vehicle, that is, identifies the corresponding processing manner of the data by using the identification code, so that after receiving a data report message reported by the vehicle, the map cloud can quickly determine the data processing manner by using the identification code included in the data report message.

METHOD, APPARATUS, AND COMPUTER PROGRAM PRODUCT FOR SELECTIVE PROCESSING OF SENSOR DATA

A method is provided for selective processing of sensor data, and more particularly, to parsing sensor data from a data stream to identify sensor data relevant to specific requests, and processing the relevant data based on the type of request. Methods include: receiving a campaign management request defining requested source data metrics; receiving source data from a plurality of sources within a geographic area; determining a subset of the source data that satisfies the requested source data metrics; processing the subset of the source data satisfying the requested source data metrics to obtain observations; and updating map data of a map database based on the observations.

DATA CONVERTER BETWEEN A PLATFORM FOR MANAGING AN INDUSTRIAL SITE AND AT LEAST ONE NAVIGATION SYSTEM

L'invention concerne un convertisseur de données entre une plateforme électronique (100) de gestion d'un site industriel et au moins un système de navigation (200i) sur ledit site, comprenant : - un module d'interface (310) apte à recevoir dynamiquement de ladite plateforme des données courantes de types différents, d'exploitation du site, - un module de conversion (330) apte à traiter numériquement lesdites données courantes en fonction de règles de conversion mémorisées, pour engendrer au moins une cartographie dynamique de valeur de risque(s) du site industriel, - au moins un module d'interface (320i), communiquant avec un système de navigation associé (200i), apte à sélectivement lui transmettre des données de risque de chaque cartographie, pour prise en compte par ledit système de navigation dans la mise à jour des trajectoires de déplacement sur ledit site.

BORDVORRICHTUNG

Eine Bordvorrichtung weist auf: eine Kartendatenspeichereinheit (50), die konfiguriert ist, um Kartendaten bereitzustellen, die eine von einem Fahrzeug befahrene Straße betreffen; eine Recheneinheit (11), die konfiguriert ist, um, wenn Fahrzeugmessdaten vorliegen, die die Positionen und Formen einer Straße und eines Merkmals in der Nähe des Fahrzeugs anzeigen, die Fahrzeugmessdaten mit den von der Kartendatenbereitstellungseinheit bereitgestellten Kartendaten zu vergleichen, um eine Differenz zu berechnen; und eine Bestimmungseinheit (12), die konfiguriert ist, um, wenn die Differenz einen Schwellenwert überschreitet, jenseits dessen eine Steuerung des Fahrzeugs auf der Grundlage der Kartendaten und der Messdaten beeinträchtigt wird, die erfassten Fahrzeugmessdaten als zu sendende Fahrzeugmessdaten zu bestimmen.

WEGPLANUNG FÜR AUTONOME SICH BEWEGENDE VORRICHTUNGEN

Die vorliegende Erfindung erstreckt sich auf Verfahren, Systeme und Computerprogrammprodukte zur Wegplanung für sich autonom bewegende Vorrichtungen. Aspekte der Erfindung beinhalten das Planen eines Wegs für einen mobilen Roboter, um sich autonom in einer Umgebung zu bewegen, die andere statische oder sich bewegende Hindernisse, wie zum Beispiel andere mobile Vorrichtungen und Fußgänger, beinhaltet, ohne Bezugnahme auf eine vorherige Karte der Umgebung. Ein geplanter Weg für einen mobilen Roboter kann unter Verwendung von Diffusionskarten bestimmt, eingestellt und angepasst werden, um Kollisionen zu vermeiden, während sich einem globalen Bestimmungsort genähert wird. Die Wegplanung kann das Verwenden von Übergangswahrscheinlichkeiten zwischen Rasterpunkten beinhalten, um einen machbaren Weg durch Teile der Umgebung zu finden, um sich dem globalen Bestimmungsort zu nähern. In einem Aspekt werden Diffusionskarten in Kombination mit einem Ansatz mit zurückweichendem Horizont verwendet, der ...

Transition Detection

A computer-implemented method 400 relates to determining a location of one or more transitions on a map and/or the time at which a transition occurs, the transitions being made by a set of mobile computing devices moving between a first zone (4, figure 1, not shown) and a second zone (2). The method includes obtaining trajectory data representing a plurality of trajectories collected from the mobile devices 402, at least some of the trajectories passing through the first and/or second zone. The trajectories are positioned in a frame of reference defined relative to a map 404, wherein at least part of some of the trajectories are positioned based on their correspondence with other trajectories. The trajectories are then processed so as to determine the location and/or time of transitions from first zones to second zones of the map 408. Candidate transitions may be identified in each trajectory and the transitions may be determined based on groupings of candidate transitions.

Method and system using mapped emotions

System and method for determining location and orientation of an object in a space

A system and method for determining location and/or orientation of a sensor may include, stored in a database a representation of an element in a first space. A mapping between the representation and input from a first sensor may be created. Using the mapping and input from a second sensor in a second space, one or more elements in the database may be identified. A location and/or orientation of the second sensor in the second space may be determined based on the one or more elements.

Method, device and system for modeling a road network graph

GNSS-BASED MAP GENERATION

The invention relates to a method and system for an automatic generation of a road map of a construction site or mining site. Data records collected by vehicles equipped with a GNSS-positioning system while driving on the construction site or mining site are provided, each data record comprising a position information representing a two-dimensional or three-dimensional position of the vehicle, an identification reference specific to a corresponding vehicle, a time tag, and a heading information; the data records are assigned to corresponding trips based on the time tag and the identification reference; the trips are mapped within an area; the area is divided into a plurality of uniform tiles; for each tile, a heading information variance of the data records covered by the respective tile is determined; a tile is defined as junction tile, if the tile has a heading information variance higher than a computed threshold variance; an area of interest (Aol) having a perimeter is determined by ...

METHOD FOR UPDATING A DIGITAL ROAD MAP

The invention relates to a method for updating a digital road map in which road segments having segment lengths are stored. The method includes equipping at least two vehicles with at least one respective onboard unit generating position readings; if a first set of position readings of a first onboard unit can be associated with a road segment, determining a first path length based on the position readings of the first set; if a second set of position readings of a second onboard unit can be associated with the same road segment, determining a second path length based on the position readings of the second set; calculating an average path length based on at least the first and second path lengths; and if the average path length deviates from the stored segment length, storing the average path length as an updated stored segment length of this road segment in the digital road map.

DRONE ASSISTED SETUP FOR BUILDING SPECIFIC SOUND LOCALIZATION MODEL

Techniques and systems are described for generating and using a sound localization model. A described technique includes obtaining for a building a sound sensor map indicating locations of first and second sound sensor devices in respective first and second rooms of the building; causing an autonomous device to navigate to the first room and to emit, during a time window, sound patterns at one or more frequencies within the first room; receiving sound data including first and second sound data respectively from the first and second sound sensor devices that are observed during the time window; and generating and storing a sound localization model based on the sound sensor map, autonomous device location information, and the received sound data, the model being configured to compensate for how sounds travels among rooms in at least a portion of the building such that an origin room of a sound source is identifiable. 1. A method comprising:obtaining, by a controller, a sound sensor map of a building, the sound sensor map indicating locations of one or more first sound sensor devices in a first room of the building and one or more second sound sensor devices in a second room of the building;causing, by the controller, an autonomous device to navigate to the first room and to emit, during a time window, one or more sound patterns at one or more frequencies within the first room;receiving, by the controller, autonomous device location information that indicates a location of the autonomous device during the time window;receiving, by the controller, sound data comprising i) first sound data associated with sounds sensed by the one or more first sound sensor devices during the time window and ii) second sound data associated with sounds sensed by the one or more second sound sensor devices during the time window;generating, by the controller, a sound localization model based on the sound sensor map, the autonomous device location information, and the received sound data, ...

DATA UPDATING DEVICE, DATA UPDATING METHOD, AND STORAGE MEDIUM STORING DATA UPDATING PROGRAM

A data updating device sets, with respect to map data in which road links are represented as line segment sequences, a plurality of first straight lines extending in a first direction and a plurality of second straight lines extending in a second direction that intersects with the first direction, to thereby generate mesh map data. Then, the data updating device sets a set L of points or line segments that represent the update location, sets a set V including a plurality of first straight lines, and sets a set H including a plurality of second straight lines. Then, the data updating device sets the state of each mesh based on the set L, the set V, and the set H. 1. A data updating device , comprising:a memory; and with respect to map data, set a plurality of first straight lines extending in a first direction and a plurality of second straight lines extending in a second direction that intersects with the first direction to thereby generate a plurality of meshes that are surrounded by the plurality of first straight lines and the plurality of second straight lines, and generate mesh map data including the plurality of meshes;', 'set a group L of points or line segments, which represent an update location, set a group V including the plurality of first straight lines, and set a group H including the plurality of second straight lines; and, 'a processor coupled to the memory, the processor is configured to in a case in which the points or the line segments included in the group L overlap with any of the plurality of first straight lines included in the group V, set a status of a mesh corresponding to locations at which the plurality of first straight lines and the points or the line segments overlap as an update status, which indicates a state in which a data update is required;', 'in a case in which the points or the line segments included in the group L overlap with any of the plurality of second straight lines included in the group H, set a status of a mesh ...

Location Based Tracking

Location information is used to build a database of locations having associated audio, video, image or text data. In some implementations, a device includes a touch-sensitive display and collects data associated with a geographic location of interest. The geographic location of interest can be displayed on a map using an indicator. A touch selection of the indicator provides access to the data through an interface displayed on the touch-sensitive display. One or more locations of interest can be displayed and grouped together by an attribute.

Incremental map generation, refinement and extension with gps traces

A method for improving and extending an existing road network and generating new networks from statistically relevant amounts of probe data recorded by GPS-enabled navigation devices. New probe data is matched to the existing digital vector map, then the data merged into the existing network using a weighted mean technique. When new roads are detected, appropriate junction points are made with the existing network elements. The updated network data is simplified to improve computing speed and reduce data storage requirements.

Method and systems for deducing road geometry and connectivity

Methods and systems for generating, deriving, and enhancing drivable road databases are provided. A baseline road in a road network is defined and position and/or trajectory data collected by vehicles traveling the baseline road are compiled and compared to a representation of the baseline road in an existing database. Identity and/or other property information about the road are assigned form the existing database to the new database.

Triage Tool for Problem Reporting in Maps

A graphical user interface (GUI) of a triage tool for triaging reported problems is described. The GUI includes a first set of UI items for viewing reported problems of maps. The GUI includes a second set of UI items for viewing map data related to the reported problems. The GUI includes a third set of UI items for sending triaged problems to a set of sources of the map data.

Road network analysis system

A road network analysis system detects major changes in a road network based on probe information from a plurality of vehicles. The probe information is tabulated and the change in the amount of traffic is calculated for each road with a predetermined time interval. If a remarkable change in the amount of traffic is detected for a road before and after a specific baseline day, it is determined that a major change in the road network affecting the traffic has occurred in the vicinity of the road, and the road is specified as a change-related road. A path search may be performed between the endpoints of a plurality of change-related roads, and the searched paths that have the most overlap with the searched paths are selected so as to identify the change-related roads which are commonly affected by the same cause and the endpoints thereof.

Incremental network generation providing seamless network of large geographical areas

A system and method for generating a seamless road network of a large geographical area includes a plurality of GPS traces extending across a geographical area. A plurality of threads simultaneously employ entire traces to collectively generate the seamless road network. The method includes dividing the geographical area into tiles, with each trace extending across several tiles. Each thread can employ one of the traces while another thread employs another trace. Each thread employs an entire one of the traces extending across several tiles during a single step. A job scheduler and blocking table prevent threads from simultaneously processing traces having common tiles and disturbing one another. The threads employ an incremental map matching method, wherein the probe traces are compared to existing line segments of the digital map, and new line segments are created using the probe traces not matching the existing line segments.

Road Maps from Clusters of Line Segments of Multiple Sources

A method of generating a road map from clusters of line segments of multiple datapoint sources. The method includes defining line segments for the datapoint sources between consecutive samples from the sources, grouping the line segments into clusters according to a position criterion, applying curve fitting to the clusters to obtain centerlines, and generating a road map from the center lines.

Autonomous vehicle localization using submaps

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.

Using measure of constrainedness in high definition maps for localization of vehicles

According to an aspect of an embodiment, operations may comprise accessing a set of vehicle poses of one or more vehicles; for each of the set of vehicle poses, accessing a high definition (HD) map of a geographical region surrounding the vehicle pose, with the HD map comprising a three-dimensional (3D) representation of the geographical region, determining a measure of constrainedness for the vehicle pose, with the measure of constrainedness representing a confidence for performing localization for the vehicle pose based on 3D structures surrounding the vehicle pose, and storing the measure of constrainedness for the vehicle pose; and for each of the geographical regions surrounding each of the set of vehicle poses, determining a measure of constrainedness for the geographical region based on measures of constrainedness of vehicle poses within the geographical region, and storing the measure of constrainedness for the geographical region.

ROBOT MANAGEMENT SYSTEM, ROBOT MANAGEMENT METHOD, INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND INFORMATION PROCESSING PROGRAM

This invention provides an information processing apparatus for efficiently controlling multiple types of robots that move based on map data in different formats. This information processing apparatus includes an acquirer that acquires map data generated by at least one of the multiple types of robots that move based on map data in different formats indicating movable areas, respectively, a common map generator that generates, from the acquired map data, a common map for commonly managing movements of the multiple types of robots, and a specific map generator that generates, from the generated common map, multiple types of specific maps to be respectively used by the multiple types of robots.

Maintaining and Generating Digital Road Maps

An object confidence value generation system for a digital road map comprising: a backend and an object recognition device for a vehicle including: a capture unit, an evaluation unit, a positioning unit, and a transceiver. The capture unit captures and divides the surroundings data into segments. The positioning unit determines positions of the segments and of any objects therein. The evaluation unit recognizes the objects and concealed objects associates them with position information. The evaluation unit determines a probability of correct recognition for each object. The probability depends on the relative position of the segment with respect to the object recognition device. The backend generates or updates the digital road map based on the data. Each of the objects in the digital road map has an associated confidence value. The backend adjusts the confidence value of the object based on the determined probability.

Autonomous vehicle localization using image analysis and manipulation

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.

METHOD FOR OPERATING A DRIVER ASSISTANCE SYSTEM AND VEHICLE COMPRISING A DRIVER ASSISTANCE SYSTEM DESIGNED TO CARRY OUT THE METHOD

A method for operating a driver assistance system of a vehicle involves, for determining a position of the vehicle in a digital environment map, detecting environment data for the vehicle using an on-board sensor system and matched with map data stored in the environment map. A position of the vehicle in a real environment is determined using position data of the vehicle from an on-board satellite receiver. Accuracy of the determined position of the vehicle is determined based on the position data and environment data matched with the environment data. Accuracy is predicted with which the position of the vehicle in the environment map can be determined for a predetermined section of road ahead of the vehicle. Fully automated operation of the vehicle is enabled when the determined accuracy and the predicted accuracy for the predetermined section of road ahead of the vehicle are greater than at least one accuracy threshold. 110-. (canceled)11. A method for operating a driver assistance system of a vehicle , the method comprising: detecting, using an on-board sensor system of the vehicle, first environment data for the vehicle; and', 'matching the detected environment data with map data stored in the digital environment map;, 'determining a position of the vehicle in a digital environment map by'}determining a position of the vehicle in a real environment by determining, using an on-board satellite receiver, position data of the vehicle;determining an accuracy of the determined position of the vehicle based on the position data and second environment data matched with the first environment data;predicting an accuracy with which the position of the vehicle in the digital environment map can be determined for a predetermined section of road ahead of the vehicle; andenabling fully automated operation of the vehicle responsive to the determined accuracy and the predicted accuracy for the predetermined section of road ahead of the vehicle are greater than at least one ...

Crowd sourcing data for autonomous vehicle navigation

A method of processing vehicle navigation information for use in autonomous vehicle navigation is provided. The method includes receiving, by a server, navigation information from a plurality of vehicles. The navigation information from the plurality of vehicles is associated with a common road segment. The method also includes storing, by the server, the navigation information associated with the common road segment. The method also includes generating, by the server, at least a portion of an autonomous vehicle road navigation model for the common road segment based on the navigation information from the plurality of vehicles. The method further includes distributing, by the server, the autonomous vehicle road navigation model to one or more autonomous vehicles for use in autonomously navigating the one or more autonomous vehicles along the common road segment.

Systems and methods for identifying landmarks

A system for identifying a landmark for use in autonomous vehicle navigation is provided. The system includes at least one processor programmed to receive at least one identifier associated with the landmark; associate the landmark with a corresponding road segment; update an autonomous vehicle road navigation model relative to the corresponding road segment to include the at least one identifier associated with the landmark; and distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles. The at least one identifier is determined based on acquisition, from a camera associated with a host vehicle, of at least one image representative of an environment of the host vehicle; analysis of the at least one image to identify the landmark in the environment of the host vehicle; and analysis of the at least one image to determine the at least one identifier associated with the landmark.

Autonomous vehicle tail alignment navigation

A system for navigating an autonomous vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device, images representative of an environment of the autonomous vehicle. The processor may also be programmed to determine a travelled trajectory along the road segment based on analysis of the images. Further, the processor may be programmed to determine a current location of the autonomous vehicle along a predetermined road model trajectory based on analysis of one or more of the plurality of images. The processor may also be programmed to determine a heading direction based on the determined traveled trajectory. In addition, the processor may be programmed to determine a steering direction, relative to the heading direction, by comparing the traveled trajectory to the predetermined road model trajectory at the current location of the autonomous vehicle.

Sparse map for autonomous vehicle navigation

A non-transitory computer-readable medium is provided. The computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment, and a plurality of predetermined landmarks associated with the road segment. The plurality of predetermined landmarks are spaced apart by at least 50 meters, and the sparse map has a data density of no more than 1 megabyte per kilometer.

Self-aware system for adaptive navigation

Systems and methods are provided for self-aware adaptive navigation. In one implementation, a navigation system for a vehicle may include at least one processor. The at least one processor may be programmed to determine a navigational maneuver for the vehicle based, at least in part, on a comparison of a motion of the vehicle with respect to a predetermined model representative of a road segment. The at least one processor may be further programmed to receive, from a camera, at least one image representative of an environment of the vehicle. The at least one processor may be further programmed to determine, based on analysis of the at least one image, an existence in the environment of the vehicle of an navigational adjustment condition, cause the vehicle to adjust the navigational maneuver based on the existence of the navigational adjustment condition, and store information relating to the navigational adjustment condition.

Systems and methods for mapping an environment

A method for mapping an environment by an electronic device is described. The method includes obtaining a set of sensor measurements. The method also includes determining a set of voxel occupancy probability distributions respectively corresponding to a set of voxels based on the set of sensor measurements. Each of the voxel occupancy probability distributions represents a probability of occupancy of a voxel over a range of occupation densities. The range includes partial occupation densities.

Method for performing a real time analysis of traffic light related data

A method is described for performing a real time analysis of traffic flow control device related data using a plurality of vehicles connected in at least one vehicle cell network. The method compares position data from vehicles defining a traffic flow with received data for a traffic flow control device and geometry and topology data concerning a transport engineering construction related to the traffic flow control device to evaluate if a discrepancy can be detected between the geometry and topology data concerning the transport engineering construction and the traffic flow defined by the vehicles positions. The method may be used for updating and/or finding errors in the geometry and topology data concerning the transport engineering construction.

Intelligent map combination for venues enabling indoor positioning

Methods and devices are described for merging maps. In one potential embodiment a method may comprise receiving an indication of at least one plurality of geographically proximate points, where each of the at least one plurality of geographically proximate points are determined by at least one access point in communication with one or more mobile devices. A first and second map may then be received, where the first map and the second map each cover a first area such that the first area is in both the first map and the second map. The first map and the second map may then be merged by matching a mapping of a first portion of an indication of the at least one plurality of geographically proximate points on the first map and a second portion of an indication of an at least one plurality of geographically proximate points on the second map.

Method and apparatus for updating road map geometry based on received probe data

A method is provided for generating and revising map geometry based on a received image and probe data. A method may include: receiving probe data from a first period of time, where the probe data from a first period of time is from a plurality of probes within a predefined geographic region; generating a first image of the predefined geographic region based on the probe data from the first period of time; receiving probe data from a second period of time different from the first period of time, where the probe data from the second period of time is from a plurality of probes within the predefined geographic region; generating a second image based on the probe data from the second period of time; comparing the first image to the second image; and generating a revised route geometry based on changes detected between the first image and the second image.

SYSTEM AND METHOD FOR UPDATING AND SHARING CROSSROAD DYNAMIC MAP DATA

A system and a method for updating and sharing crossroad dynamic map data are disclosed. The method includes steps of receiving a detection information outputted from an on-vehicle detecting device, wherein the detection information includes a host-vehicle absolute coordinate, a host-vehicle course, a host-vehicle speed, a relative speed between an object and the host vehicle, and an initial relative coordinate between the object and the host vehicle; respectively performing matching procedures to the host-vehicle absolute coordinate and the initial relative coordinate by respectively adding estimated coordinate shifts to obtain a matched host-vehicle absolute coordinate and a matched relative coordinate; performing a coordinate rotation transformation to the matched relative coordinate to obtain a matched transformed coordinate; merging the matched host-vehicle absolute coordinate and the matched transformed coordinate into crossroad-section map data to form crossroad dynamic map data; and sharing the crossroad dynamic map data. 1. A system for updating and sharing crossroad dynamic map data , comprising:an on-vehicle detecting device mounted on a host vehicle to detect at least one object around the host vehicle and periodically outputting a detection information including a host-vehicle absolute coordinate, a host-vehicle course, a host-vehicle speed, a relative speed between the at least one object and the host vehicle, and an initial relative coordinate between the at least one object and the host vehicle; anda computing device storing crossroad-section map data established in a geodesic coordinate system comprising a reference direction;wherein when the computing device receives the detection information from the on-vehicle detecting device, the computing device adds an estimated host-vehicle coordinate shift to the host-vehicle absolute coordinate to obtain a matched host-vehicle absolute coordinate, and adds an estimated object coordinate shift to the ...

GENERATING SCOUTING OBJECTIVES

Aspects of the disclosure relate to generating scouting objectives in order to update map information used to control a fleet of vehicles in an autonomous driving mode. For instance, a notification from a vehicle of the fleet identifying a feature and a location of the feature may be received. A first bound for a scouting area may be identified based on the location of the feature. A second bound for the scouting area may be identified based on a lane closest to the feature. A scouting objective may be generated for the feature based on the first bound and the second bound. 1. A method of generating scouting objectives in order to update map information used to control a fleet of vehicles in an autonomous driving mode , the method comprising:receiving, by one or more processors of a scouting system, a notification from a vehicle of the fleet identifying a feature and a location of the feature;identifying, by the one or more processors, a first bound for a scouting area based on the location of the feature;identifying, by the one or more processors, a second bound for the scouting area based on a lane closest to the feature; andgenerating, by the one or more processors, a scouting objective for the feature based on the first bound and the second bound.2. The method of claim 1 , wherein the notification identifies the feature as missing from a local version of map information used to control the vehicle in the autonomous driving mode.3. The method of claim 1 , wherein the notification identifies the feature as moved.4. The method of claim 1 , wherein the notification identifies the feature as a new feature that does not appear in the map information.5. The method of claim 1 , wherein the notification identifies a second location corresponding to an extent to which the vehicle was able to observe the feature claim 1 , and wherein the first bound is identified further based on the second location.6. The method of claim 1 , wherein the first bound is identified further ...

MAP VERIFICATION BASED ON COLLECTED IMAGE COORDINATES

Systems and methods may selectively collect information from a host vehicle. In one example, a method may include causing collection of navigational information associated with an environment traversed by the host vehicle; storing the collected navigational information; determining, based on an output of at least one navigational sensor, a location of the host vehicle; transmitting the determined location of the host vehicle to a server; receiving, from the server and in response to the transmitted determined location, a request for transmission of a selected subset of the navigational information collected by the host vehicle; and transmitting the selected subset of the navigational information to the server. 140-. (canceled)41. A system for verifying and supplementing information received from a host vehicle , the system comprising:a memory device storing a database; andat least one processing device programmed to:receive, from the host vehicle, feature coordinate information determined based on analysis of images acquired of an environment traversed by the host vehicle;compare the received feature coordinate information to map information associated with the environment of the host vehicle, wherein the map information is stored in the database;determine, based on the comparison, a variance between the feature image coordinate information and the map information;determine whether the variance exceeds an acceptable level; andwhen the variance exceeds the acceptable level, transmit a supplemental information request to the host vehicle.42. The system of claim 41 , wherein the image coordinate information includes coordinates of one or more features of interest extracted from one or more images collected by the host vehicle.43. The system of claim 41 , wherein the map information includes coordinates of one or more road features determined from information collected from a plurality of host vehicles.44. The system of claim 41 , wherein the supplemental information ...

VEHICLE PLATOONING USING SURFACE-PENETRATING RADAR SYSTEMS

One or more vehicles in a platoon may be operated autonomously using a surface-penetrating radar (SPR) system implemented in the lead vehicle. SPR signals obtained by the system may be converted to one or more images (or scans) that provide information about the ground surface and/or other surfaces around the vehicle within a detection range of the SPR system. Based on the obtained SPR signals, the lead vehicle may create a real-time map including the SPR information and/or localize the real-time SPR information to an existing map. This real-time SPR map information may then be transmitted from the lead vehicle to succeeding vehicles in the platoon in a pass-it-down fashion for localizing the succeeding vehicles behind the lead vehicle. 1. A system for navigating a plurality of vehicles as the vehicles travel in a platoon or a convoy along a path , the system comprising:a surface-penetrating radar (SPR) system configured for attachment to a lead vehicle of the traveling vehicles for acquiring real-time SPR information associated therewith; and generate a navigation map including the acquired real-time SPR information associated with the lead vehicle;', 'cause the generated map to be transmitted from the lead vehicle to other vehicles of the traveling vehicles; and', 'operate the lead vehicle and other vehicles based at least in part on the generated map., 'at least one controller configured to2. The system of claim 1 , wherein the SPR system is further configured for attachment to at least one of the other vehicles following the lead vehicle claim 1 , the at least one controller being configured to cause the generated map to be transmitted between the vehicles via the SPR systems.3. The system of claim 2 , wherein the SPR system is further configured for attachment to at least one of the other vehicles following the lead vehicle for acquiring real-time SPR information associated therewith claim 2 , the at least one controller being configured to generate a secondary ...

Adaptive road model manager

Systems and methods are provided for interacting with a plurality of autonomous vehicles. In one implementation, a system may include at least one processor. The at least one processor may be programmed to receive from each of the plurality of autonomous vehicles navigational situation information associated with an occurrence of an adjustment to a determined navigational maneuver, analyze the navigational situation information, determine, based on the analysis of the navigational situation information, whether the adjustment to the determined navigational maneuver was due to a transient condition, and update the predetermined model representative of the at least one road segment if the adjustment to the determined navigational maneuver was not due to a transient condition.

Normalization of Device Probe Data for Path Identification

Some embodiments provide a method for defining travel paths in a map region. The method identifies location data collected over a period of time from multiple mobile devices. The method aggregates the location data for each of multiple map areas. The aggregated data for each map area identifies an amount of mobile device traffic passing through the map area over the period of time. The method normalizes the aggregated data for a subset of the multiple map areas based on analysis of the relative amounts of mobile device traffic. The method uses the normalized data to identify paths in the map.

VEHICLE RUNNING CONTROL DEVICE AND VEHICLE RUNNING CONTROL METHOD

A vehicle running control device that acquires a running path of a vehicle to a destination and path information relating to autonomous driving of the vehicle on the running path; that, on the basis of the path information relating to autonomous driving, predicts a remote driving segment of the running path in which running control of the vehicle in a remote driving mode is required; that, before the vehicle reaches the predicted remote driving segment, makes a request to a remote operation equipment for entry of operation information relating to remote driving; and that, when running is being controlled in an autonomous driving mode and the operation information relating to remote driving is entered through the remote operation equipment, switch to operate in the remote driving mode. 1. A vehicle running control device comprising:a memory; anda processor connected to the memory, the processor being configured to:be capable of controlling running of a vehicle in an autonomous driving mode and in a remote driving mode and control running of the vehicle toward a destination, the autonomous driving mode controlling running of the vehicle on the basis of operation information relating to autonomous driving of the vehicle that is obtained from a running environment surrounding the vehicle, and the remote driving mode being based on operation information relating to remote driving of the vehicle that is entered through remote operation equipment operated by remote operation staff;acquire a running path of the vehicle to the destination and path information relating to autonomous driving of the vehicle on the running path;on the basis of the path information relating to autonomous driving, predict a remote driving segment of the running path in which running control of the vehicle in the remote driving mode is required;before the vehicle reaches the predicted remote driving segment, make a request to the remote operation equipment for entry of the operation information ...

Roadway drivability assessment for mapping and navigation

Described herein are techniques for generating and utilizing drivability maps. The techniques including a method comprising receiving a set of vehicle performance records including a first vehicle performance record comprising a vehicle location, a vehicle configuration, and traction control system information. The method further includes determining, from the set of vehicle performance records, a respective Coefficient of Friction (CoF) value for respective road segments including a first CoF value for a first road segment. The method further includes determining, from the set of vehicle performance records and the respective CoF values, a first CoF threshold for a first vehicle configuration. The method further includes generating a drivability map for the first vehicle configuration indicating different levels of drivability for different road segments based on the respective CoF values for respective road segments and the first CoF threshold for the first vehicle configuration.

Using vehicle systems to generate a route database

Described herein are devices, systems, and methods for managing the power consumption of an automotive vehicle, and thereby for optimizing the power consumption of the vehicle. The devices and systems for managing the power consumption of the vehicle typically include power management logic that can calculate an applied power for the vehicle engine based on information provided from the external environment of the vehicle, the operational status of the vehicle, one or more command inputs from a driver, and one or more operational parameters of the vehicle.

Method For Checking Detected Changes To An Environmental Model Of A Digital Area Map

A method is disclosed for checking detected changes to an environmental model of a digital area map first vehicle with a one or more sensors detects an environmental change from an environmental model of a digital area map. Data are transferred from the first vehicle to a central server, wherein the data include information on the detected environmental change, position data of the detected environmental change, as well as information by means of which the sensor quality of the one or more sensors can be detected. Depending on the sensor quality of the one or more sensors, the central server performs a plausibility check of the detected environmental change using data that are detected by a one or more sensors of an additional vehicle and transferred to the central server. 1. A method for verifying detected changes to an environmental model of a digital area map , comprising:detecting, by a first vehicle with one or more sensors, an environmental change from an environmental model of a digital area map;transferring data from the first vehicle to a central server, wherein the data include information on the detected environmental change, position data of the detected environmental change, as well as information using which a sensor quality of the one or more sensors can be determined; anddepending on the sensor quality of the one or more sensors of the first vehicle, performing, by the central server, a plausibility check of the detected environmental change using data that are detected by one or more sensors of an additional vehicle and transferred to the central server.2. The method of claim 1 , wherein the sensor quality indicates a measure of the reliability of the recognition of objects and/or structures in the environment of the particular vehicle claim 1 , and/or changes to the objects and/or structures.3. The method of claim 1 , wherein the one or more sensors comprise one or more environmental sensors.4. The method of claim 1 , further comprising a ...

Active Change Detection For Geospatial Entities Using Trend Analysis

In some implementations, a computing device can detect changes in map data based on device activity data received from a mobile device. For example, the device activity data can include location data that describes locations where the mobile devices have traveled, direction, speed, and/or other data. Based on the received location data, the computing device can determine whether stored map data for a particular area accurately reflects the real world characteristics of the particular area. The device activity data can identify user behavior with respect to the mobile device. For example, the characteristics of a real world geographic area may influence how users use their mobile devices (e.g., which applications are used) in the geographic area. The computing device can analyze the user behavior identified in the device activity data to detect changes in the real world characteristics of the geographic area.

Method of and server for processing wireless device sensor data to generate an entity vector associated with a physical location

A method for generating an entity-vector associated with a geographical location is disclosed. The entity-vector is generated based on data from sensors of user-wireless-devices and user profile associated with user-wireless-devices. The method comprises, for a given location: receiving from user-wireless-devices being temporally-associated with the location, first and second sensed parameters from first and second sensors, the sensed parameters having been captured during the user-wireless-device being temporally-associated with the location; for each user-wireless-devices, retrieving an associated user profile and analyzing sensed parameters and user profile to generate, respectively, a given-user first and second parameter vectors and a given-user profile vector; aggregating, each user-wireless devices' (i) given-user first parameter vector, (ii) given-user second parameter vector, and (iii) the given-user profile vector into a pool; applying at least two analysis models to the pool, each analysis model generating its respective pooled-data vector; based on pooled-data vectors, generating an entity-vector associated with the location.

Updating maps and road status

Apparatus and methods are described for updating a geographic database based on road object probabilities. For example, an initial value set for an existence probability that a road object exists is determined. Observation data collected from sensors of vehicles are received. A total quantity of the observation data include a first quantity of vehicles that observed a presence of the road object and a second quantity of the vehicles observed an absence of the road object. A presence probability indicative of a likelihood that observation data accurately describe the road object and an absence probability indicative of a likelihood that observation data accurately describe the road object are calculated to determine an updated value for the existence probability. A geographic database is updated in response to the comparison of the updated value for the existence probability to a threshold confidence level.

SELF-LEARNING SAFETY SIGN FOR TWO-WHEELERS

Embodiments disclosed herein provide for a method including configuring a self-learning safety sign to: establish vehicle-to-everything (V2X) communications with a two-wheeler equipped with a V2X transceiver and positioned at a ride point and/or ridden along a common and divergent route according to a setup stage for the safety sign; receive ride parameters in the V2X communications from the two-wheeler associated with the positioning and/or riding of the two-wheeler; and analyze the received ride parameters to create a ride model for determining a future route to be taken by any two-wheeler in V2X communication with the safety sign. 1. A method , comprising:configuring a self-learning safety sign to:establish vehicle-to-everything (V2X) communications with a two-wheeler equipped with a V2X transceiver and positioned at a ride point and/or ridden along a common and divergent route according to a setup stage for the safety sign;receive ride parameters in the V2X communications from the two-wheeler associated with the positioning and/or riding of the two-wheeler; andanalyze the received ride parameters to create a ride model for determining a future route to be taken by any two-wheeler in V2X communication with the safety sign.2. The method of claim 1 , wherein the ride point is a position proximal to a crosswalk on the common route.3. The method of claim 2 , wherein the safety sign is further configured to communicate with a setup app configured for indicating a setup stage.4. The method of claim 1 , wherein the safety sign is further configured to:determine comparison parameters including comparison points and associated ride parameters;form a decision parameter table including comparison parameters featuring ride parameters with considerable differences at a comparison point; andbased on the decision parameter table, train a decision algorithm to create the ride model.5. The method of claim 1 , wherein the ride model is created using machine learning techniques.6. ...

MAP CREATION AND LOCALIZATION FOR AUTONOMOUS DRIVING APPLICATIONS

An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result. 1. A method comprising: generating sensor data using one or more sensors of the vehicle;', 'computing, using one or more neural networks (NNs) and based at least in part on the sensor data, outputs indicative of locations of landmarks;', 'converting the locations to three-dimensional (3D) world space locations relative to an origin of the vehicle;', 'encoding the 3D world space locations to generate encoded data corresponding to the frame; and', 'transmitting the encoded data to a server to cause the server to generate a map including the landmarks., 'for at least two frames of a plurality of frames corresponding to a drive of a vehicle2. The method of claim 1 , wherein:the sensor data includes image data representative of an image;one or more of the outputs are computed in two-dimensional (2D) image space; andthe converting the locations includes converting 2D image space locations to the 3D world space locations based at least in part on at least one of intrinsic camera parameters or extrinsic camera parameters corresponding to a camera that generated the image data.3. The method of claim 1 , wherein the ...

MAP CREATION AND LOCALIZATION FOR AUTONOMOUS DRIVING APPLICATIONS

An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result. 1. A method comprising:receiving a plurality of mapstreams corresponding to a plurality of drives;determining segments of two or more of the mapstreams that are within a threshold distance to each other;registering at least one pair of segments from the two or more mapstreams to generate a frame graph;dividing the frame graph into road segments to generate a pose graph including poses and corresponding pose links corresponding to a position of an autonomous machine within each of the road segments;fusing data from the two or more mapstreams based at least in part on the pose graph to generate a fused map; andtransmitting the fused map to a vehicle for performing one or more operations based at least in part on the fused map.2. The method of claim 1 , further comprising:converting the two or more mapstreams to respective maps,wherein the fusing the data from the two or more mapstreams includes fusing the data from the respective maps.3. The method of claim 2 , wherein the respective maps each include two or more map layers corresponding to different sensor modalities.4. The method of claim 1 , wherein the one or ...

Management method and management device

A management method for managing a working environment of a worker who moves in a workplace includes: a receiving process of receiving, from a mobile device worn by the worker, (i) a measurement value that has been obtained in a measuring process of carrying out environment measurement and (ii) positional information indicative of a location at which the measuring process has been carried out; and a making process of making, with reference to the measurement value and the positional information, a map that shows spatial distribution of measurement values in the workplace.

LANE MAPPING AND NAVIGATION

Systems and methods are disclosed for mapping lanes for use in vehicle navigation. In one implementation, at least one processing device may be programmed to receive navigational information from a first vehicle and a second vehicle that have navigated along a road segment including a lane split feature; receive at least one image associated with the road segment; determine, from the first navigational information, a first actual trajectory of the first vehicle and a second actual trajectory of the second vehicle; determine a divergence between the first actual trajectory and the second actual trajectory; determine, based on analysis of the at least one image, that the divergence between the first actual trajectory and the second actual trajectory is indicative of the lane split feature; and update a vehicle road navigation model to include a first target trajectory and a second target trajectory that branches from the first target trajectory after the lane split feature. 1. A system for mapping lane splits for use in vehicle navigation , the system comprising:{'claim-text': ['receive first navigational information from a first vehicle that has navigated along a road segment, wherein the road segment includes a lane split feature, and wherein the road segment includes at least a first travel lane prior to the lane split feature that transitions into at least a second travel lane and a third travel lane after the lane split feature;', 'receive second navigation information from a second vehicle that has navigated along the road segment;', 'receive at least one image associated with the road segment;', 'determine, from the first navigational information, a first actual trajectory of the first vehicle along the first travel lane and the second travel lane of the road segment;', 'determine, from the second navigational information, a second actual trajectory of the second vehicle along the first travel lane and the third travel lane of the road segment;', 'determine a ...

SURFEL MAP EDITING

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing an initial representation of an environment to generate an updated representation that includes representations of one or more objects there were obscured in the initial representation. One of the methods includes obtaining initial surfel data comprising a plurality of surfels; determining a plurality of non-static surfels from the plurality of surfels; obtaining guidance data that characterizes a prediction for static surfaces in one or more first regions of the environment that were obscured by the plurality of non-static surfels in the initial surfel data; and processing the guidance data and the initial surfel data to generate final surfel data that comprises, for each first region of the environment, a plurality of predicted surfels that represent static surfaces in the first region that are partially or wholly obscured by objects represented by respective non-static surfels. 1. A method comprising:obtaining initial surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment and each surfel represents a surface of an object;determining a plurality of non-static surfels from the plurality of surfels;obtaining guidance data that characterizes a prediction for static surfaces in one or more first regions of the environment, wherein each first region of the environment was obscured by the plurality of non-static surfels in the initial surfel data; andprocessing the guidance data and the initial surfel data to generate final surfel data that comprises, for each first region of the environment, a plurality of predicted surfels that represent static surfaces in the first region that are partially or wholly obscured by objects represented by respective non-static surfels.2. The method of claim 1 , wherein:each surfel has associated data that includes a static label characterizing a ...

INFORMATION TRANSMISSION DEVICE, INFORMATION COLLECTION DEVICE, INFORMATION TRANSMISSION METHOD, INFORMATION COLLECTION METHOD, AND MOBILE ENTITY

According to one embodiment, an information transmission device includes processing circuitry, transmitting circuitry and receiving circuitry. The processing circuitry acquires surrounding information of a mobile entity including the information transmission device. The transmitting circuitry transmits first data including state information of the mobile entity, the first data not including the surrounding information, a data size of the state information is smaller than a data size of the surrounding information. The receiving circuitry receives a transmission control request of the surrounding information after the first data is transmitted, the transmission control request being generated based on the first data. The transmitting circuitry controls transmission of the surrounding information based on the transmission control request. 1. An information transmission device comprising:processing circuitry configured to acquire surrounding information of a mobile entity including the information transmission device;transmitting circuitry configured to transmit first data including state information of the mobile entity, the first data not including the surrounding information, a data size of the state information is smaller than a data size of the surrounding information; andreceiving circuitry configured to receive a transmission control request of the surrounding information after the first data is transmitted, the transmission control request being generated based on the first data, whereinthe transmitting circuitry is configured to control transmission of the surrounding information based on the transmission control request.2. The device according to claim 1 , wherein the transmitting circuitry is configured to transmit the first data before transmitting the surrounding information.3. The device according to claim 1 , wherein the transmitting circuitry is configured to transmit the surrounding information in response to receiving the transmission control request. ...

Active image sensing for a navgational system

Systems and methods may selectively collect information from a host vehicle. In one example, a method may include causing collection of navigational information associated with an environment traversed by the host vehicle; storing the collected navigational information; determining, based on an output of at least one navigational sensor, a location of the host vehicle; transmitting the determined location of the host vehicle to a server; receiving, from the server and in response to the transmitted determined location, a request for transmission of a selected subset of the navigational information collected by the host vehicle; and transmitting the selected subset of the navigational information to the server.

Ehorizon upgrader module, moving objects as ehorizon extension, sensor detected map data as ehorizon extension, and occupancy grid as ehorizon extension

A method for providing vehicle information includes: receiving first vehicle data encoded according to a first protocol and corresponding to an environment external to a vehicle; receiving high definition mapping data corresponding to objects in the environment external to the vehicle; generating position information for objects indicated in the high definition mapping data by correlating locations of objects indicated by the high definition mapping data with objects in the environment external to the vehicle detected by at least one sensor; generating second vehicle data by correlating the high definition mapping data, the position information, and the first vehicle data; and encoding the second vehicle data according to a second protocol.

SYSTEM AND METHOD TO VIRTUALLY TEACH A SEMI-AUTONOMOUS DEVICE

A virtual teaching system includes a semi-autonomous device to perform a task such as cleaning a target environment. The semi-autonomous device includes one or more sensors configured to record environmental data from the target environment that can be used to construct a virtual environment. The semi-autonomous device is operably coupled to an analysis system. The analysis system includes a processor to perform multiple functions, such as constructing the virtual environment from the recorded environmental data and supporting operation of a user interface. The user interface can be operably coupled to the processor, allowing a human operator to teach a virtual device in the virtual environment to perform an action sequence. Once the virtual device has been taught an action sequence in the virtual environment, the analysis system can transfer the recorded action sequence to the semi-autonomous device for use in the target environment. 1. A virtual teaching system , comprising:a semi-autonomous device to perform a task, the semi-autonomous device having one or more sensors to detect a plurality of boundaries in a target environment; andan analysis system, the analysis system having a processor, a memory, and a display, the processor configured to execute a set of instructions stored in the memory associated with constructing a virtual environment and a virtual device, the display configured to show a user interface, the user interface configured to enable a human operator to interact with the virtual environment and the virtual device.2. The virtual teaching system of claim 1 , wherein the user interface allows the human operator to drive the virtual device in the virtual environment.3. The virtual teaching system of claim 2 , wherein the user interface allows the human operator to record an action sequence.4. The virtual teaching system of claim 3 , wherein at least a portion of the action sequence can be rerecorded by the human operator.5. The virtual teaching ...

OUTSIDE SENSING INFORMATION PROCESSING DEVICE

An outside sensing information processing device for suppressing adverse influence on warning of an advanced vehicle safety system. The vehicle safety system receives position information of an object detected by another vehicle or a road, the positions of feature points of a stationary object, and configuration information of an environmental map. When the system receives the information, the position of the object on the environmental map is calculated. Another vehicle also transmits position information of itself. The present vehicle checks an error of the position information of the vehicle detected by the other vehicle from the position information of the another vehicle and the relation of the position of a feature point detected by the another vehicle and the position of the feature point detected by the present vehicle. In the case where the error is large or unstable, use of the position information from the other vehicle is avoided. 1. An outside sensing information processing device detecting position of an object or an indication existing on the outside of a first moving object , comprising:a receiving function of receiving configuration information of an environmental map as a position reference, which is extracted from sensing information by an outside sensor mounted in a second moving object or a stationary object;a matching function matching between configuration information of the environmental map obtained by the receiving function and configuration information of an environmental map obtained by the function of the sensing information processing device; anda correcting function, by using a matching result of the matching function, correcting position information of an object or an indication existing on the outside detected by the outside sensor mounted in the second moving object or the stationary object.2. The outside sensing information processing device according to claim 1 , wherein when motion of an outside sensor mounted in the second ...

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND MOBILE BODY APPARATUS

Provided is an information processing apparatus that creates map information on the basis of sensor information obtained by an on-vehicle sensor. The information processing apparatus includes a creation section that creates a map of a surrounding area of a mobile body on the basis of sensor information acquired by one or more sensors mounted on the mobile body, a request section that issues an information request to an external apparatus on the basis of a state of the map created by the creation section, and a merge section that merges information acquired by the request section from the external apparatus with the created map. The request section issues an information request to the external apparatus on the basis of a condition of a dead angle included in the map created by the creation section. 1. An information processing apparatus comprising:a creation section that creates a map of a surrounding area of a mobile body on a basis of sensor information acquired by one or more sensors mounted on the mobile body;a request section that issues an information request to an external apparatus on a basis of a state of the map created by the creation section; anda merge section that merges information acquired by the request section from the external apparatus with the created map.2. The information processing apparatus according to claim 1 , whereinthe request section issues an information request to the external apparatus on a basis of a condition of a dead angle included in the map created by the creation section.3. The information processing apparatus according to claim 1 , whereinthe request section issues an information request to the external apparatus on a basis of detection of a failure in the sensors.4. The information processing apparatus according to claim 1 , wherein claim 1 ,in a case where autonomous driving of the mobile body according to the map created by the creation section cannot be continued, the request section issues an information request to the ...

MAP DATA GENERATION APPARATUS

A map data generation apparatus is provided as follows. Probe data are collected from a plurality of vehicles. An integration process is performed to generate an integrated map data by integrating the collected probe data for each of data management units corresponding to (i) road sections, (ii) road links, or (iii) meshes into which a map is divided. A comparison process is performed to obtain a difference by comparing the generated integrated map data with a basic map data. The basic map data is updated based on the obtained difference. The integrated map data for a first data management unit is generated in response to a required number of the probe data being collected for the first data management unit. The required number of the probe data is set depending on a road type in the first data management unit. 1. A map data generation apparatus comprising:a probe data collection device configured to collect probe data from a plurality of vehicles;an integration processing device configured to perform an integration process to generate an integrated map data by integrating the probe data collected by the probe data collection device for each of data management units corresponding to (i) road sections, (ii) road links, or (iii) meshes into which a map is divided;a comparison processing device configured to perform a comparison process to obtain a difference by comparing the integrated map data generated by the integration processing device with a basic map data; anda map data update device configured to update the basic map data based on the difference obtained by the comparison processing device,wherein:the integration processing device is further configured to generate the integrated map data for a first data management unit of the data management units in response to a required number of the probe data being collected for the first data management unit, the required number of the probe data being set depending on a road type in the first data management unit.2. ...

MAP DATA GENERATION SYSTEM, DATA CENTER, AND IN-VEHICLE APPARATUS

A map data generation system includes: in-vehicle apparatuses respectively provided in vehicles: and a data center communicably connected with the in-vehicle apparatuses. In the data center, probe data are collected from the in-vehicle apparatuses for performing a road map data generating and updating process of generating and updating a road map data. A shortage road unit is determined to be one of data management units corresponding to road sections, road links, or meshes into which a map is divided, and have a shortage in a required number of probe data to perform the road map data generating and updating process. A notification indicating the shortage road unit is issued to the in-vehicle apparatuses. In the in-vehicle apparatus, a guidance for the vehicle to travel on the shortage road unit is provided in response to receiving the notification from the data center. 1. A map data generation system comprising:in-vehicle apparatuses respectively provided in vehicles; anda data center communicably connected with the in-vehicle apparatuses to collect probe data recording traveling statuses of the vehicles from the in-vehicle apparatuses for performing a road map data generating and updating process of generating and updating a road map data based on the collected probe data,wherein the data center comprises:a data shortage determination device configured to determine a shortage road unit that is one of data management units corresponding to road sections, road links, or meshes into which a map is divided, the shortage road unit having a shortage in a required number due to the collected probe data having not reached the required number even when a predetermined period of time elapses since the road map data generating and updating process was previously performed, the required number of probe data being set depending on a road type of each of the data management units; anda notification device configured to issue a notification indicating the shortage road unit ...

VEHICLE CONTROL DEVICE, MAP INFORMATION MANAGEMENT SYSTEM, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device including: a recognition unit configured to recognize a surrounding status of a vehicle; and a driving control unit configured to control one or both of a speed and steering of the vehicle. The driving control unit performs switching to a second driving state in which a driver has a higher degree of a monitoring obligation than in a first driving state in a case in which the vehicle is caused to travel in the first driving state in which the driver has a lower degree of the monitoring obligation among driving states of a plurality of types, and a recognition result acquired by the recognition unit satisfies a predetermined condition relating to the driving state. The vehicle control device further includes a map updating unit configured to update intrinsic map information on the basis of the recognition result acquired by the recognition unit in a case in which switching from the first driving state to the second driving state is performed by the driving control unit. 1. A vehicle control device comprising:a recognition unit configured to recognize a surrounding status of a vehicle; anda driving control unit configured to control one or both of a speed and steering of the vehicle,wherein the driving control unit performs switching to a second driving state in which a driver has a higher degree of a monitoring obligation than in a first driving state in a case in which the vehicle is caused to travel in the first driving state in which the driver has a lower degree of the monitoring obligation among driving states of a plurality of types, and a recognition result acquired by the recognition unit satisfies a predetermined condition relating to the driving state,the vehicle control device further comprising a map updating unit configured to update intrinsic map information on the basis of the recognition result acquired by the recognition unit in a case in which switching from the first driving state to the second driving state is performed by ...

Method, apparatus, and system for estimating continuous population density change in urban areas

An approach is disclosed for estimating population density change where dynamic signals are not available or are not dense enough to be representative. The approach involves, for example, determining map features of a first map space. The approach also involves identifying partitions of the first map space based on the identified partitions (i) having features that are substantially similar, and (ii) having respective change functions that are substantially similar. The approach further involves determining an estimated change function based on one or more of the respective change functions that are substantially similar and that are associated with the first map space. The approach further involves using the estimated change function for at least one partition of a second map space based on the at least one partition of the second map space and at least one map partition of the first map space having map features that are substantially similar.

Visualization of Paths Using GPS Data

A map editing system for visually indicating the location of GPS devices on a map and identifying paths from the map. GPS data is received from a plurality of GPS devices. The data is filtered based parameters including the speed of the GPS devices. The filtered GPS data is displayed on a map using representations that visually indicate the location of the GPS devices that the data was received from. The representations can then be used for identifying and creating new paths on the map.

Technologies for managing interoperable high definition maps for autonomous vehicles

Technologies for managing interoperable high definition (HD) maps for autonomous vehicles includes a HD map server to distribute interoperable HD map tiles to various autonomous vehicles, each of which may be configured to utilize proprietary HD map tiles of different propriety formats. As such, each of the autonomous vehicles is configured to translate the interoperable HD map tile to the proprietary format used by that particular vehicle. Additionally, each autonomous vehicle may submit crowd-sourced sensor data to the interoperable HD map server using a universal data set by converting the sensor data to a universal data structure.

Identifying and communicating routes using graph networks

A device may receive geospatial data identifying roads and buildings in a geographical region, and may transform the geospatial data into geospatial objects for the roads and the buildings. The device may correlate shelter data with the geospatial objects to generate correlated data that includes the geospatial objects and the shelter data. The device may process the correlated data to add bounding boxes around the geospatial objects corresponding to the shelters to generate modified correlated data. The device may correlate road weight and type data with the modified correlated data to generate final geospatial data, and may convert the final geospatial data into a directed graph. The device may receive event data identifying an event and inaccessible roads caused by the event, may update the directed graph based on the event data to generate an updated directed graph, and may provide a representation of the updated directed graph for display.

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING SYSTEM, INFORMATION PROCESSING METHOD AND NON-TRANSITORY STORAGE MEDIUM

The present disclosure provides more appropriate information for vehicles. An information processing apparatus of the present disclosure receives pieces of probe data from a plurality of vehicles having traveled through a predetermined point, each of the pieces of probe data indicating a traveling environment at the point, and generates information for other vehicles to pass through the point, for each of attributes of vehicles, based on the pieces of probe data. 1. An information processing apparatus comprising a controller comprising at least one processor , the controller being configured to execute:receiving pieces of probe data from a plurality of vehicles having traveled through a predetermined point, each of the pieces of probe data indicating a traveling environment at the point; andgenerating information for other vehicles to pass through the point, for each of attributes of vehicles, based on the pieces of probe data.2. The information processing apparatus according to claim 1 , further comprising a storage storing data defining a plurality of road segments claim 1 , wherein the controller generates the information for each of the plurality of road segments based on the pieces of probe data generated at a point corresponding to each of the plurality of road segments.3. The information processing apparatus according to claim 1 , wherein the controller determines a traveling danger degree corresponding to each of the attributes of the vehicles as the information.4. The information processing apparatus according to claim 3 , whereineach of the pieces of probe data includes data about a degree of flooding at the point; andthe controller determines the traveling danger degree based on the degree of the flooding.5. The information processing apparatus according to claim 3 , whereinthe attributes are vehicle classes or minimum ground clearances of the vehicles; andthe controller determines the traveling danger degree for each of the vehicle classes or minimum ...

SENSOR FUSION FOR DYNAMIC MAPPING

A local computing device receives lidar data and radar data from one or more road side units (RSUs). The local computing device performs ground plane removal based on range to detect targets and perform local sensor fusion. The local computing device may use a global nearest neighbor (GNN) algorithm and a Kalman filter. The local computing device may create an HD map or the data may be brought together with other target data at a central computing device to produce the HD map. Vehicle position and motion are controlled based on the HD map. Detecting and removing a ground plane based on range are illustrated. Fusion, ground plane removal, and delay filtering may be used in various contexts, such as roadways, parking lots and shipping yards. 1. A method for producing a high definition map (HD map) for control of one or more autonomous vehicles , the one or more autonomous vehicles including a first vehicle , the method comprising:receiving, at a local computing device, first lidar data and first radar data related to the first vehicle;performing a local sensor fusion at the local computing device, wherein the local sensor fusion includes removing, based on a range to the first vehicle, a ground plane associated with the first vehicle, anddetermining, based on the local sensor fusion, the HD map, wherein the HD map indicates a position and a velocity of the first vehicle.2. The method of claim 1 , further comprising controlling claim 1 , based on the position and the velocity indicated by the HD map claim 1 , the first vehicle to navigate in a parking lot to pick up or drop off a person.3. The method of claim 1 , further comprising controlling claim 1 , based on the position and the velocity indicated by the HD map claim 1 , the first vehicle to navigate in a shipping yard to pick up or drop off a shipment.4. The method of claim 1 , further comprising:receiving, at the local computing device, second lidar data and second radar data related to the first vehicle, ...

Map generation systems and methods

A method of map generation includes receiving data from a plurality of vehicles about environments within which the plurality of vehicles operate, and generating a three-dimensional map using the data from the plurality of vehicles. The data is collected by one or more sensors on-board the plurality of vehicles.

USE OF GEOSPATIAL COORDINATE SYSTEMS FOR MODIFYING MAP AND ROUTE INFORMATION

Systems and methods for updating map data are disclosed. A system can include a mobile delivery device that is configured to be transported to a plurality of delivery locations by a parcel carrier. The system may further include a computer readable storage medium and one or more processors. The system may store map data associated with a geographic data. Using the mobile delivery device, the system can receive a plurality of positions during delivery of parcels to a plurality of delivery locations associated with the geographic region. Based on the plurality of positions, the system may determine a delivery route of a parcel carrier, and, based on the delivery route, the system can generate updated map data. 1. A system for updating map data , the system comprising:a mobile computing device comprising a location circuit to generate breadcrumb data as the mobile computing device moves along a delivery route; and receive, from the mobile computing device, the breadcrumb data;', 'generate breadcrumb lines by converting the breadcrumb data into lines connecting the breadcrumbs within the breadcrumb data;', 'generate buffers around the generated breadcrumb lines;', 'generate buffer centerlines from the buffers;', 'determine, based on the buffer center lines, the estimated locations of new streets; and', 'update a map based on the new streets., 'a computer system configured to2. The system of claim 1 , the computer system further configured to split the breadcrumb lines at one or more points claim 1 , the points representing street intersections.3. The system of claim 1 , the computer system further configured to split the buffer centerlines at one or more points claim 1 , the points representing street intersections.4. The system of claim 1 , the computer system further configured to merge buffer centerlines with the same endpoints into a single line.5. The system of claim 1 , the computer system further configured to remove buffer centerlines associated with breadcrumb ...

Map generation apparatus

A map generation apparatus including a microprocessor. The microprocessor is configured to perform recognizing another vehicle traveling on an opposite lane opposite to a current lane on which a subject vehicle travels, acquiring an information of an external situation around the other vehicle in a route matching section when the other vehicle is recognized, the information of the external situation being obtained by the other vehicle traveling on the opposite lane, the route matching section being a section in which a driving route of the subject vehicle and a driving route of the other vehicle match in a driving route including the current lane and the opposite lane, and generating a map for the opposite lane in the route matching section, based on the information of the external situation.

MAP GENERATION APPARATUS

A map generation apparatus including a detection device that detects an external situation around a subject vehicle, and an electronic control unit including a microprocessor and a memory. The microprocessor is configured to perform generating a first map for a current lane on which a subject vehicle travels, based on the external situation detected by the detection device, and acquiring a map information on an opposite lane map for an opposite lane generated by another vehicle traveling on the opposite lane opposite to the current lane. The microprocessor is configured to perform the generating further including generating a second map for the current lane corresponding to a point where the map information on the opposite lane map has been acquired, by inverting the opposite lane map. 1. A map generation apparatus , comprising:a detection device that detects an external situation around a subject vehicle; andan electronic control unit including a microprocessor and a memory connected to the microprocessor,the microprocessor is configured to perform:generating a first map for a current lane on which a subject vehicle travels, based on the external situation detected by the detection device; andacquiring a map information on an opposite lane map for an opposite lane generated by another vehicle traveling on the opposite lane opposite to the current lane, whereinthe microprocessor is configured to performthe generating further including generating a second map for the current lane corresponding to a point where the map information on the opposite lane map has been acquired, by inverting the opposite lane map.2. The map generation apparatus according to claim 1 , whereinthe first map is a map at a first point on the current lane, and the second map is a map at a second point ahead of the first point on the current lane in a traveling direction of the subject vehicle.3. The map generation apparatus according to claim 1 , whereinthe microprocessor is configured to ...

MAP GENERATION APPARATUS

Map generation apparatus includes processor and memory. Memory stores: first/second map information of first/second map of first/second area adjacent to each other. Processor generates first/second map based on first/second traveling history of first/second vehicle in first/second area; and updates at least one of first/second map information so as to combine first/second maps. First map information includes position information of point cloud recognized based on distance information to surrounding objects acquired by first vehicle. Second map information includes position information of lane marker recognized based on image information acquired by second vehicle. Processor recognizes position of lane marker based on first map information stored in memory; and updates at least one of first/second map information stored in memory so as to combine first/second maps based on recognized position of lane marker and position information of lane marker included in second map information. 1. A map generation apparatus , comprising:a processor and a memory connected to the processor, wherein first map information of a first map of a first area; and', 'second map information of a second map of a second area adjacent to the first area, wherein, 'the memory is configured to store generating the first map based on a first traveling history of a first vehicle in the first area;', 'generating the second map based on a second traveling history of a second vehicle in the second area; and', 'updating at least one of the first map information and the second map information stored in the memory so as to combine the first map and the second map, wherein, 'the processor is configured to performthe first map information includes position information of a point cloud recognized based on distance information to surrounding objects acquired by the first vehicle, whereinthe second map information includes position information of a lane marker recognized based on image information acquired by ...

Encoding lidar scanned data for generating high definition maps for autonomous vehicles

Embodiments relate to methods for efficiently encoding sensor data captured by an autonomous vehicle and building a high definition map using the encoded sensor data. The sensor data can be LiDAR data which is expressed as multiple image representations. Image representations that include important LiDAR data undergo a lossless compression while image representations that include LiDAR data that is more error-tolerant undergo a lossy compression. Therefore, the compressed sensor data can be transmitted to an online system for building a high definition map. When building a high definition map, entities, such as road signs and road lines, are constructed such that when encoded and compressed, the high definition map consumes less storage space. The positions of entities are expressed in relation to a reference centerline in the high definition map. Therefore, each position of an entity can be expressed in fewer numerical digits in comparison to conventional methods.

Mobile terminal, electronic navigational chart server, and method for updating electronic navigational chart based on crowdsourcing thereof

An electronic navigational chart updating system receives navigational chart information regarding navigation collected from mobile terminals of a plurality of information providers embarked in a plurality of vessels, and updates an electronic navigational chart by using the received navigational chart information.

FULLY ALIGNED JUNCTIONS

Systems and methods for creating maps used in navigating autonomous vehicles are disclosed. In one implementation at least one processor is programmed to receive drive information from each of a plurality of vehicles that traverse different entrance-exit combinations of a road junction; for each of the entrance-exit combinations, align three-dimensional feature points in the drive information to generate a plurality of aligned three-dimensional feature point groups, one for each entrance-exit combination of the road junction; correlate one or more three-dimensional feature points in each of the plurality of aligned three-dimensional feature point groups with one or more three-dimensional feature points included in every other aligned three-dimensional feature point group from among the plurality of aligned three-dimensional feature point groups; and generate a sparse map based on the correlation, the sparse map including a target trajectory associated with each of the entrance-exit combinations. 150-. (canceled)51. A sparse map generator system for creating maps used in navigating autonomous or partially autonomous vehicles , comprising: receive drive information from each of a plurality of vehicles that traverse a road junction, the road junction including a plurality of entrances and one or more exits associated with each one of the plurality of entrances; wherein the plurality of vehicles are each associated with a vehicle group from a plurality of vehicle groups, each vehicle group including one or more vehicles that traverse a different entrance-exit combination associated with the road junction; and wherein the drive information from each of the plurality of vehicles includes three-dimensional feature points associated with objects detected by analyzing images captured as a particular vehicle traversed a particular entrance-exit combination of the road junction;', 'for each of the entrance-exit combinations, align the three-dimensional feature points received ...

Cooperative mapping for autonomous vehicles, robots or multi-agent systems

Techniques are disclosed to facilitate cooperative mapping for safe and efficient trajectory planning and collision avoidance by allowing nearby agents to share contextual information. The described techniques also function to extend the mapping range of a single agent by leveraging observations made by multiple agents. Furthermore, the techniques as described herein function to reduce uncertainty in trajectory planning by allowing agents to “see” behind occlusions, thus taking advantage of observations made by neighboring agents from different points of view. An efficient hardware implementation of the system is also presented that leverages the methodologies as discussed herein.

Sign backside mapping and navigation

Systems and methods are provided for vehicle navigation. In one implementation, a host vehicle-based sparse map feature harvester system may include at least one processor programmed to receive a first image captured by a forward-facing camera and a second image captured by a rearward-facing camera and as the host vehicle travels along a road segment in a first direction; detect a semantic feature represented in the first image and a semantic feature represented in the second image, the semantic features being associated with predetermined object type classifications; identify position descriptors associated with the first semantic feature and the second semantic feature; receive position information indicative of positions of the forward-facing and rearward-facing cameras when the first and second images were captured; and cause transmission of drive information including the position descriptors and the position information to a remotely-located entity.

MAP GENERATION APPARATUS AND VEHICLE POSITION RECOGNITION APPARATUS

A map generation apparatus includes: an in-vehicle detection unit configured to detect a situation around a subject vehicle in traveling; and a microprocessor and a memory connected to the microprocessor. The microprocessor is configured to perform: recognizing a division line on a road based on a detection data acquired by the in-vehicle detection unit; generating, while the division line is recognized in the recognizing, a first map based on the division line recognized in the recognizing; and extracting a feature point from the detection data acquired by the in-vehicle detection unit and generating a second map using the feature point extracted in the extracting. The microprocessor is configured to perform the generating the second map including deleting the second map corresponding to a position behind the subject vehicle by a predetermined distance or more from the second map generated while the division line is recognized in the recognizing. 1. A map generation apparatus comprising:an in-vehicle detection unit configured to detect a situation around a subject vehicle in traveling; anda microprocessor and a memory connected to the microprocessor, whereinthe microprocessor is configured to perform:recognizing a division line on a road based on a detection data acquired by the in-vehicle detection unit;generating, while the division line is recognized in the recognizing, a first map based on the division line recognized in the recognizing; andextracting a feature point from the detection data acquired by the in-vehicle detection unit and generating a second map using the feature point extracted in the extracting, whereinthe microprocessor is configured to performthe generating the second map including deleting the second map corresponding to a position behind the subject vehicle by a predetermined distance or more from the second map generated while the division line is recognized in the recognizing.2. The map generation apparatus according to claim 1 , ...

ONBOARD DEVICE

An onboard device includes a map data provision unit, a computation unit and a determination unit. The map data provision unit is configured to provide map data pertaining to a road on which a vehicle travels. The computation unit is configured to, when vehicle probe data indicating the positions and shapes of a road and a feature in the vicinity of the vehicle is given, compare the vehicle probe data with the map data provided from the map data provision unit to calculate a difference. The determination unit is configured to, when the difference exceeds a threshold value beyond which control of the vehicle based on the map data and the probe data will be impaired, determine the detected vehicle probe data as vehicle probe data to be transmitted. 1. An onboard device that determines whether vehicle probe data is to be transmitted to a transmitting target , the onboard device comprising:a map data provision unit configured to provide map data pertaining to a road on which a vehicle travels;a computation unit configured to, when the vehicle probe data indicating the positions and shapes of a road and a feature in the vicinity of the vehicle is given, compare the vehicle probe data with the map data provided from the map data provision unit to calculate a difference; anda determination unit configured to, when the difference falls within a permissible range in which the travel of the vehicle can be controlled based on the map data and the vehicle probe data, determine that the given vehicle probe data is not to be transmitted.2. The onboard device according to claim 1 , wherein the determination unit calculates claim 1 , according to the difference claim 1 , a control margin when the travel of the vehicle is controlled based on the map data and the probe data claim 1 , and determines the given vehicle probe data as the vehicle probe data to be transmitted when the calculated control margin is smaller than a first threshold value.3. The onboard device according to claim ...

METHOD FOR UPLOADING PROBE DATA

A method for uploading a probe data, including coordinate information of a plurality of features disposed along a road, to a server, includes: acquiring at least one peripheral object data, representing a feature disposed around a vehicle, from a peripheral monitoring sensor mounted on the vehicle; analyzing the peripheral object data and calculate a position of the feature with respect to the road on which the vehicle travels; and generating the probe data including position information of the feature and uploading the probe data to the server. The uploading includes a first mode in which the probe data is uploaded to the server at a predetermined frequency, and a second mode in which the probe data is uploaded at a lower frequency than the first mode. 1. A method for uploading a probe data , including coordinate information of a plurality of features disposed along a road , to a server that manages map data , the method comprising:acquiring at least one peripheral object data, representing a feature disposed around a vehicle, from a peripheral monitoring sensor mounted on the vehicle;analyzing the peripheral object data and calculate a position of the feature with respect to the road on which the vehicle travels; andgenerating the probe data including position information of the feature and uploading the probe data to the server; andthe uploading includes, as an operation mode, a first mode in which the probe data is uploaded to the server at a predetermined frequency, and a second mode in which the probe data is uploaded at a lower frequency than the first mode.2. The method according to claim 1 , whereinthe second mode is activated when the vehicle is disposed in a predetermined low frequency area.3. The method according to claim 1 , whereinthe second mode includes a prohibition mode in which the probe data is not uploaded to the server; andthe prohibition mode is activated when the vehicle is in a predetermined prohibition area.4. The method according to claim ...

MAP GENERATION DEVICE AND MAP GENERATION METHOD

A map generation device according to one embodiment includes a reception unit that receives probe data transmitted from at least one vehicle and indicating a feature detected in vehicle surroundings by an environment monitoring sensor incorporated in the vehicle, and the device creates or updates map data based on the probe data received by the reception unit. The map generation device includes: a characteristic determination unit that determines whether the probe data includes sufficient characteristic information usable for alignment with other probe data or map data; and a combining unit that joins a target probe data set including an insufficient amount of characteristic information to the probe data previous or subsequent to the target probe data set in consecutive probe data sets acquired from the same travel of the same vehicle. 1. A map generation device that includes a reception unit configured to receive probe data transmitted from at least one vehicle and indicating a feature detected in vehicle surroundings by an environment monitoring sensor incorporated in the vehicle , and creates or updates map data based on the probe data received by the reception unit , the device comprising:a characteristic determination unit configured to determine whether the probe data includes sufficient characteristic information usable for alignment with other probe data or map data; anda combining unit configured to join a target probe data set including an insufficient amount of characteristic information to the probe data set previous or subsequent to the target probe data set in consecutive probe data sets acquired from a travel of a vehicle.2. The map generation device according to claim 1 , whereinthe map generation device successively creates the probe data based on data provided from at least one of an on-vehicle camera, a millimeter-wave radar system, and a lidar system functioning as the environment monitoring sensor.3. The map generation device according to claim ...

MAP GENERATION DEVICE AND MAP GENERATION PROGRAM

A server includes a probe data acquiring unit acquiring a probe data item of each of vehicles traveling on a road, the probe data items include, as shape point sequences, sequences of shape points of marking lines; a grouping unit categorizing shape point sequences of marking lines into plural groups for the respective vehicles, each group including one or more shape point sequences for a corresponding one of the vehicles; a center point sequence generating unit generating, based on the one or more shape point sequences included in each group, a center point sequence for each marking line to thereby remove, from the shape point sequences of the marking lines, information which is dependent on traveling states of the vehicles; and a map data generating unit identifying the center point sequence for each marking line as a corresponding marking line on a map to thereby generate map data. 1. A map generation device comprising:a probe data acquiring unit configured to acquire a probe data item of each of vehicles traveling on a road generated based on image data captured by a camera mounted to the corresponding vehicle, the probe data items acquired from the vehicles include, as shape point sequences, sequences of shape points of marking lines on the road;a grouping unit configured to categorize the shape point sequences of the marking lines into plural groups for the respective vehicles, each of the groups including one or more shape point sequences for a corresponding one of the vehicles;a center point sequence generating unit configured to generate, based on the one or more shape point sequences included in each group, a center point sequence for each marking line to thereby remove, from the shape point sequences of the marking lines, information which is dependent on traveling states of the vehicles; anda map data generating unit configured to identify the center point sequence for each marking line as a corresponding marking line on a map to thereby generate map ...

SYSTEM AND METHOD FOR LOCATING THE POSITION OF A ROAD OBJECT BY UNSUPERVISED MACHINE LEARNING

The present disclosure concerns systems, methods and a set of computer programs for precisely locating the position of at least one road object associated with a portion of a road network. The general principle of the disclosure is based on determining the position of a road object using unsupervised classification based on distribution density. In the disclosure, the classification is applied in two phases. In the first phase, it is applied a first time to the plurality of geographic coordinates associated with a road object so as to automatically group it into homogeneous classes. In the second phase, it is applied a second time to each class produced in the first phase, so as to automatically group it into homogeneous subclasses based on the azimuth angles of the road object that are associated with the geographic coordinates of the class. 2. The system as claimed in claim 1 , wherein the computing unit is further configured to separate claim 1 , in a first separation step of the first creation step claim 1 , each geographic coordinate into a position component in terms of latitude and a position component in terms of longitude.3. The system as claimed in claim 1 , wherein the computing unit is further configured to separate claim 1 , in a second separation step of the second creation step claim 1 , each azimuth angle into an angular component in terms of sine and an angular component in terms of cosine.5. The method as claimed in claim 4 , wherein the first creation step further comprises a first separation step in which each geographic coordinate is separated into a position component in terms of latitude and a position component in terms of longitude.6. The method as claimed in claim 4 , wherein the second creation step further comprises a second separation step in which each azimuth angle is separated into an angular component in terms of sine and an angular component in terms of cosine.7. The method as claimed in claim 4 , wherein the unsupervised ...

SERVICE AREA COVERAGE FOR AUTONOMOUS VEHICLE FLEETS

A map database stores data describing a set of connected roadways, each having one or more lanes. A coverage system selects lanes from the map database along which AVs can stop, such as parking lanes. The coverage system generates buffer regions for each of the stopping lanes, where each buffer region includes an area within a given distance of the respective lane. The coverage system combines the buffer regions to generate a coverage area, and provides a display of the coverage area overlayed over a map of roads corresponding to the coverage area. 1. A method for determining and displaying a coverage area , the method comprising:selecting, from a map database storing data describing a set of connected roads each having one or more lanes, a plurality of lanes along which an AV can stop;generating a plurality of buffer regions, each buffer region corresponding to a respective lane of the plurality of lanes and comprising an area within a particular distance from the lane;combining the plurality of buffer regions to generate a coverage area; andproviding a display of at least a portion of the coverage area overlayed on a map of roads corresponding to at least a portion of the set of connected roads in the map database.2. The method of claim 1 , wherein selecting the plurality of lanes along which an AV can stop comprises:retrieving, from the map database, a routable graph comprising a plurality of connected lanes along which an AV can be routed; andfiltering the routable graph to obtain the plurality of lanes along with the AV can stop, wherein the plurality of lanes is a subset of the plurality of connected lanes.3. The method of claim 2 , wherein one of the connected lanes comprises a first portion along which the AV can stop and a second portion along which the AV cannot stop claim 2 , and selecting the plurality of lanes along which the AV can stop comprises selecting the first portion along which the AV can stop as one of the plurality of lanes along which the AV ...

UTILIZATION OF A LOCALLY CUSTOMARY BEHAVIOR FOR AUTOMATED DRIVING FUNCTIONS

A method for utilizing observed locally customary behavior from historical data sets in vehicle surroundings by a control unit. Historical data sets of vehicle trajectories of at least one first vehicle and/or at least one second vehicle are received. 1. A method for utilizing observed locally customary behavior from historical data sets in vehicle surroundings by a control unit , the method comprising the following steps:receiving historical data sets of vehicle trajectories of at least one first vehicle and/or of at least one second vehicle;ascertaining a locally customary behavior of the first vehicle and/or of the second vehicle from the historical data sets;checking: (i) a registered behavior of the first vehicle or of at least one third vehicle, of (ii) a digital map, for deviations, based on the ascertained locally customary behavior; andwhen a deviation of the locally customary behavior from the registered behavior of the first vehicle or the third vehicle, or when a deviation of the locally customary behavior from the digital map is established, initiating execution of at least one function.2. The method as recited in claim 1 , wherein an adaptation of a driving behavior and/or of a trajectory of the first vehicle is carried out as a function of a classification of a digital map or of the third vehicle.3. The method as recited in claim 1 , wherein deviations of the digital map are identified based on a comparison of driving directions and/or speed profiles of the locally customary behavior.4. The method as recited in claim 1 , wherein the ascertained locally customary behavior is checked for deviations for checking ambiguous results in statistic surroundings during a mapping and/or a localization using instantaneously ascertained data sets of a digital map.5. The method as recited in claim 4 , wherein the data sets of the digital maps are classified as not being up-to-date when a deviation is established.6. The method as recited in claim 3 , wherein a ...

Method and apparatus for two dimensional edge-based map matching

An approach is provided for two-dimensional (2D) edge-based map matching. The 2D edge-based map matching platform receives at least one request to match a probe data point to one of a plurality of thoroughfare segments. Next, the 2D edge-based map matching platform determines respective edges of the plurality of thoroughfare segments and causes a matching of the probe data point to the one thoroughfare segment based on a comparison of the probe data point to the respective edges of the plurality of thoroughfare segments.

Driving assistance system and driving assistance method

A driving assistance system has a driving information acquisition unit that acquires any of an amount of operations by a driver, a vehicle behavior, a state of the driver, and information regarding the environment surrounding a vehicle as driving information, a vehicle location information acquisition unit that acquires vehicle location information, a statistical information generation unit that generates statistical information by statistically processing the driving information as a time-series pattern, an information associating unit that associates the statistical information with the vehicle location information at the time of the acquisition of the driving information, an information reference unit that references and reads the statistical information based on the location information acquired by the vehicle location information acquisition unit, a driving assistance unit that performs driving assistance based on the statistical information read by the information reference unit, and a communication unit.

APPARATUS AND METHOD FOR COLLECTING DATA FOR MAP GENERATION, AND VEHICLE

An apparatus for collecting data for map generation includes a processor configured to determine whether the current state of a vehicle is suitable for collection of collection target data to be used for generating or updating a map, based on suitability data received from the vehicle with a communication device. The suitability data indicates suitability of the vehicle or surroundings thereof for the collection. The processor is also configured to instruct, with the communication device, the vehicle to collect the collection target data when determining that the current state of the vehicle is suitable for the collection. 1. An apparatus for collecting data for map generation , comprising:a communication device capable of communicating with a vehicle; and determine whether the current state of the vehicle is suitable for collection of collection target data to be used for generating or updating a map, based on suitability data received from the vehicle with the communication device, the suitability data indicating suitability of the vehicle or surroundings thereof for the collection, and,', 'instruct, with the communication device, the vehicle to collect the collection target data when determining that the current state of the vehicle is suitable for the collection., 'a processor configured to'}2. The apparatus according to claim 1 , wherein the suitability data includes at least one index selected from the group consisting of a visibility index indicating visibility of a road or a road feature represented in an image of the surroundings of the vehicle generated by a camera mounted on the vehicle claim 1 , a hidden index indicating whether a feature near the vehicle is hidden in the image by another object claim 1 , a rest index indicating whether the vehicle is at rest claim 1 , and a location index indicating the location of the vehicle.3. The apparatus according to claim 2 , wherein the suitability data includes the visibility index claim 2 , and only when the ...

Change point detection device and map information distribution system

A change point detection device includes a memory 170 that stores map information representing a structure associated with a traveling condition on and around a road, an object detection unit 162 that detects a shielding object 20 hiding the structure from an image acquired by an in-vehicle camera 110 mounted on a vehicle 100 and representing an environment around the vehicle 100, a collation unit 163 that eliminates the structure hidden by the shielding object 20 in the map information, collates the image with the map information, and calculates a coincidence degree between the image and the map information, and a change point detection unit 164 that determines, when the coincidence degree is less than or equal to a predetermined threshold value, that the structure represented in the image has a change point different from the corresponding structure represented in the map information.

Method and apparatus for mining pedestrian probe data from mix-mode probe data

An approach is provided for mining pedestrian probe data from mix-mode probe data. The approach involves, for example, receiving a probe trajectory including a vehicle mode of travel, a pedestrian mode of travel, or a combination thereof. The approach also involves processing the probe trajectory to determine at least one speed value and at least one sinuosity value. The approach further involves determining a pedestrian probe detection metric based on the at least one speed value and the at least one sinuosity value. The approach further involves ranking the probe trajectory among a plurality of probe trajectories based on the pedestrian probe detection metric and/or classifying the probe trajectory as either a vehicle probe trajectory or a pedestrian probe trajectory based on the pedestrian probe detection metric.

Unmanned aerial vehicle control point selection system

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for an unmanned aerial vehicle control point selection system. A first unmanned aerial vehicle can navigate about a geographic area while a second unmanned aerial vehicle can capture images of the first unmanned aerial vehicle. Location information of the first unmanned aerial vehicle can be recorded, and a system can identify the first unmanned aerial vehicle in the captured images. Utilizing the recorded location information, the system can identify landmarks proximate to the first unmanned aerial vehicle identified in the images, and determine location information of the landmarks. The landmarks can be assigned as ground control points for subsequent flight plans.

Interactive 3d point cloud matching

Systems and methods are disclosed related to generating an interactive user interface that enables a user to move, rotate or otherwise edit 3D point cloud data in virtual 3D space to align or match point clouds captured from LiDAR scans prior to generation of a high definition map. A system may obtain point cloud data for two or more point clouds, render the point clouds for display in a user interface, then receive a user selection of one of the point clouds and commands from the user to move and/or rotate the selected point cloud. The system may adjust the displayed position of the selected point cloud relative to the other simultaneously displayed point cloud(s) in real time in response to the user commands, and store the adjusted point cloud position data for use in generating a new high definition map.

METHOD AND APPARATUS FOR MULTI-VEHICLE MANEUVER AND IMPACT ANALYSIS

There are disclosed various methods and apparatuses for multi-vehicle maneuver and impact analyses. According to an embodiment, the apparatus comprises at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive sensor data from at least one motion sensor associated with a selected vehicle from a plurality of vehicles, said sensor data indicating movements of the vehicle in a geographical area; obtain from the sensor data location of the vehicle in the geographical area; maintain a vehicle location and motion database having at least three grid layers of grid cells representing at least a part of the geographical area, said grid cells of the at least three grid layers being partly overlapping so that borders of the grid cells of different grid layers have an offset between each other; map the location of the vehicle to a grid cell of each grid layer into which the location of the vehicle belongs; insert or maintaining an identifier of the vehicle in a list of vehicle identifiers for the mapped grid cell of each grid layer; and determine on the basis of the identifiers of the vehicles in the lists which other vehicles are in a proximity of said selected vehicle. 1. An apparatus comprising:at least one processor; andat least one memory including computer program code,the at least one memory and the computer program code being configured to, with the at least one processor, cause the apparatus at least to:receive sensor data from at least one motion sensor associated with a selected vehicle from a plurality of vehicles, said sensor data indicating movements of the vehicle in a geographical area;obtain from the sensor data location of the vehicle in the geographical area;maintain a vehicle location and motion database comprising at least three grid layers of grid cells representing at least a part of the ...

Collaborative 3-d environment map for computer-assisted or autonomous driving vehicles

Disclosures herein may be directed to a method, technique, or apparatus directed to a CA/AD that includes a system controller, disposed in a first CA/AD vehicle, to manage a collaborative three-dimensional (3-D) map of an environment around the first CA/AD vehicle, wherein the system controller is to receive, from another CA/AD vehicle proximate to the first CA/AD vehicle, an indication of at least a portion of another 3-D map of another environment around both the first CA/AD vehicle and the other CA/AD vehicle and incorporate the at least the portion of the 3-D map proximate to the first CA/AD vehicle and the other CA/AD vehicle into the 3-D map of the environment of the first CA/AD vehicle managed by the system controller.

INFORMATION PROCESSING DEVICE, FEE CALCULATION SYSTEM, AND PROGRAM STOP DEVICE

An information processing device () includes a map information generation unit () and a usage amount calculation unit (). The map information generation unit () generates map information by using measurement information including a plurality of types of information measured by a measurement device () which measures information on features and is mounted on a measurement vehicle (). The usage amount calculation unit () calculates a usage amount of the map information generation unit () used for generating the map information by using at least one of the plurality of types of information included in measurement information. 1. An information processing device comprising:processing circuitryto execute a map information generation program to generate map information plotted by extracting features from measurement information including a plurality of types of information measured by a measurement device which measures information on the features and is mounted on a vehicle, andto calculate a usage amount of the map information generation program used for generating the map information by using at least one of the plurality of types of information.2. The information processing device according to claim 1 ,wherein the processing circuitry calculates distance information indicating a distance of a section in which the map information has been generated, as the usage amount by using at least one type of information among the plurality of types of information included in the measurement information used for generating the map information.3. The information processing device according to claim 1 ,wherein the processing circuitry calculates measurement time information indicating measurement time taken for measurement of the section in which the map information has been generated, as the usage amount by using at least one type of information among the plurality of types of information included in the measurement information used for generating the map information.4. The ...

Methods and systems for improving maps

Methods, systems, and apparatus, including computer programs encoded on non-transitory computer storage medium(s), are directed to improving completeness of map information and data related to maps created through sensor data. Map completeness can be improved by determining object completeness and coverage completeness of a generated map and reducing amount of unknown areas of the generated map.

Navigating with a camera device

A navigation system and method are described. A destination may be determined for a user. A starting location may be determined for the user using data obtained via a mobile device of the user. The user may be enabled to establish a route from the starting location to the destination using the mobile device. Route information that details the established route may be stored in a database for subsequent display to other users. In some embodiments, a value total for each user may be stored, and value may be added to the user's value total in response to the user establishing the route from the starting location to the destination.

Systems and Methods for Building Road Models, Driver Models, and Vehicle Models and Making Predictions Therefrom

Systems and methods for building road models, driver models, and vehicle models and making predictions may use driving data received from a plurality of vehicles being driving along a path by a driver. The driving data including a minimum of vehicle location preferably supplemented by data related to the time of observations, vehicle dynamics, and various vehicle sensors. The received data may be categorized into a plurality of maneuvers and a plurality of variables that describe the maneuvers and the received driving data may be identified. A road model may then be built for the path based on the identified variables and maneuvers and the behaviors of a particular driver compared to the road model to assess their driving and intervene as appropriate.

Map information collection and analysis device for the disabled

The present disclosure classifies map information for the disabled received from each user terminal through a user interface into image information, current location information, and slope information, matches the classified image information and the current location on the basis of same time, grasps and determines a movement path of a corresponding user terminal by tracking the current location information on the basis of time, calculates a movement distance using the current location information and then calculates a slope per set unit distance using the movement distance and the slope information, determines a walking level using the slope per set unit distance, grasps a POI of a place where a user is currently positioned by applying the current location information to map information of a database, and generates disabled path information using the movement distance, image information on the movement path, and the walking level.

CREATION AND UPDATING OF MAPS IN THE OFF-STREET AREA

A method for creating a map of at least one parking infrastructure. Unoccupied parking spaces inside the parking infrastructure are registered. Items of path information and items of environmental information are received by an external server unit. Items of path information are subdivided into path segments. The path segments are rectified by the external server unit. A loop recognition is carried out in order to create a geometrical map of the parking infrastructure. On the basis of the items of environmental information, occupied and unoccupied parking spaces along the path are acquired in order to ascertain unoccupied parking spaces inside the parking infrastructure. An external server unit and a system are also described. 111-. (canceled)12. A method for creating a map of at least one parking infrastructure by a server unit , unoccupied parking spaces inside the parking infrastructure being registered , the method comprising the following steps:receiving, by the server unit, items of path information and items of environmental information ascertained by a vehicle sensor system of at least one vehicle about a path of the at least one vehicle;subdividing the path information into path segments;rectifying, by the external server unit, the path segments to compensate errors, and using the rectified path segments to create or update a geometrical map of the parking infrastructure; andbased on the items of environmental information and based on the rectified path segments, acquiring occupied and unoccupied parking spaces along the path of the at least one vehicle to ascertain unoccupied parking spaces inside the parking infrastructure.13. The method as recited in claim 12 , wherein points in the items of path information having maximum curvature are ascertained claim 12 , and the items of path information are subdivided into approximately linear path segments that are bounded by the points of maximum curvature.14. The method as recited in claim 12 , wherein a ...

Verifying a road network of a map

The present disclosure relates to a computer program product for verifying the road network of map. An embodiment of the present invention provides a method for verifying a road network of a map. The method comprises: determining, based on locations of a set of points in the map, a trajectory distance of a trajectory between a start point and an end point in the set of points on the map; determining a route distance between the start point and the end point in the road network of the map; and verifying the road network by comparing the trajectory distance and the route distance.

INFRASTRUCTURE MAPPING AND LAYERED OUTPUT

A system may include a processor configured to receive a first image captured during a drive of a first vehicle along a road segment and receive a second image captured during a drive of the second vehicle along the road segment; analyze the first and second images to identify representations of objects; analyze the first and second images to determine position indicators for each of the objects relative to the road segment; correlate the position indicators for each of the objects, wherein the correlating includes determining refined positions of each object based on the determined position indicators; and generate, based on the refined positions of objects belonging to a particular predetermined category of objects, a map including representations of the refined positions of one or more of the objects that belong to the particular predetermined category of objects. 130-. (canceled)31. A system for generating map information , the system comprising:at least one processor comprising circuitry and a memory, wherein the memory includes instructions executable by the circuitry to cause the at least one processor:receive a first image captured by a camera of a first vehicle during a drive of the first vehicle along at least a portion of a road segment;receive a second image captured by a camera of a second vehicle during a drive of the second vehicle along at least a portion of the road segment;analyze the first and second images to identify representations of a plurality of objects, the objects belonging to at least one predetermined category of objects;analyze the first and second images to determine position indicators for each of the plurality of objects relative to the road segment;correlate the position indicators for each of the plurality of objects, wherein the correlating includes determining refined positions of each object based on the determined position indicators; andgenerate, based on the refined positions of objects belonging to a particular ...

DRIVING INFORMATION PROVIDING METHOD, AND VEHICLE MAP PROVIDING SERVER AND METHOD

In accordance with an aspect of the present disclosure, there is provided a vehicle map providing method performed by a vehicle map providing server, comprising: receiving, from a first vehicle, first information including second driving information of a second vehicle on the first image; receiving, from a third vehicle, second information including fourth driving information of a fourth vehicle on the second image; generating, according to whether the second vehicle is the same as the fourth vehicle, a vehicle map by using the first information and the second information; predicting, from the vehicle map, a first vehicle map including driving information for one or more vehicles on a route of the first vehicle at a current time based on the first driving information; and transmitting the first vehicle map to the first vehicle. 1. A vehicle map providing method performed by a vehicle map providing server , the method comprising:receiving, from a first vehicle, first information including a first image captured by the first vehicle, first driving information of the first vehicle, second driving information of a second vehicle on the first image;receiving, from a third vehicle, second information including a second image captured by the third vehicle, third driving information of the third vehicle, fourth driving information of a fourth vehicle on the second image;determining whether the second vehicle is the same as the fourth vehicle by using pre-stored vehicle map information, or the first information and the second information;generating, according to whether the second vehicle is the same as the fourth vehicle, a vehicle map by using the first driving information and the third driving information, and at least one of the second driving information and the fourth driving information;predicting, from the vehicle map, a first vehicle map including driving information for one or more vehicles on a route of the first vehicle at a current time based on the first ...

Verifying a road network of a map

The present disclosure relates to a computer implemented method, a computer program product, and a computer system for verifying the road network of map. An embodiment of the present invention provides a method for verifying a road network of a map. The method comprises: determining, based on locations of a set of points in the map, a trajectory distance of a trajectory between a start point and an end point in the set of points on the map; determining a route distance between the start point and the end point in the road network of the map; and verifying the road network by comparing the trajectory distance and the route distance.

Server and Information Providing Device

A server includes a support aspect obtaining unit configured to obtain, from each of a plurality of vehicles by communication, a support aspect of driving support executed by a driving support device of the vehicle on each of a plurality of road links; a road link information generation unit configured to generate road link information in which the support aspect is associated with data of the road link for each of the road links; and an information providing unit configured to provide the road link information generated by the road link information generation unit, to an information service destination.

Navigating with a camera device

A navigation system and method are described. A destination may be determined for a user. A starting location may be determined for the user using data obtained via a mobile device of the user. The user may be enabled to establish a route from the starting location to the destination using the mobile device. Route information that details the established route may be stored in a database for subsequent display to other users. In some embodiments, a value total for each user may be stored, and value may be added to the user's value total in response to the user establishing the route from the starting location to the destination.

Maplets for maintaining and updating a self-healing high definition map

An apparatus is onboard a vehicle and in communication with sensors onboard the vehicle. The apparatus receives a maplet request identifying a request region; and, responsive to determining that the vehicle is within the request region, processes sensor data captured by sensors to generate a multi-sensor data stream corresponding to a road network segment. The apparatus identifies an observation corresponding to a driving surface edge within the multi-sensor data stream; and generates a maplet based on the observation and the maplet request. Generating the maplet comprises using a predetermined data model and a predetermined data format corresponding to a driving surface edge observation class to encode road data corresponding to the observation corresponding to the driving surface edge. The apparatus provides the maplet such that a network apparatus receives the maplet. The network apparatus is configured to validate/update map data of a digital map representing the road network based on the maplet.