УСТРОЙСТВО ОЦЕНКИ ПОЛОЖЕНИЯ ТРАНСПОРТНОГО СРЕДСТВА И СПОСОБ ОЦЕНКИ ПОЛОЖЕНИЯ ТРАНСПОРТНОГО СРЕДСТВА

Предложенная группа изобретений относится к средствам для оценки положения транспортных средств. Устройство оценки положения транспортного средства содержит: блок выявления положений целевого объекта; блок выявления величины перемещения; блок хранения положений целевого объекта; блок получения картографической информации; блок оценки положения транспортного средства, выполненный с возможностью, посредством сопоставления данных положений целевого объекта, хранимых в блоке хранения положений целевого объекта, с положениями целевого объекта в картографической информации, оценивать положение транспортного средства у транспортного средства; и блок выявления точки поворота, выполненный с возможностью выявлять точку поворота транспортного средства по величинам перемещений транспортного средства. При этом блок хранения положений целевого объекта удерживает в памяти по меньшей мере данные положений целевого объекта в диапазоне, идущем назад от текущего местоположения на предопределенное первое заданное ...

КОРРЕКЦИЯ ОШИБОК ГЛОБАЛЬНОЙ СИСТЕМЫ ОПРЕДЕЛЕНИЯ МЕСТОПОЛОЖЕНИЯ, ОТСЛЕЖИВАНИЕ ТРАНСПОРТНОГО СРЕДСТВА И ОПРЕДЕЛЕНИЕ МЕСТОПОЛОЖЕНИЯ ОБЪЕКТА

... 1. Способ определения коэффициента ошибок для дифференциальной глобальной системы определения местоположения, содержащий этапы: ! прием данных, переданных от по меньшей мере одного устройства, перемещающегося по меньшей мере по одному из множества известных маршрутов, причем данные относятся ко множеству предполагаемых позиций устройства на основании сигналов глобальной системы определения местоположения, принятых приемником глобальной системы определения местоположения в упомянутом устройстве; ! сравнение множества упомянутых предполагаемых позиций устройства с упомянутым множеством маршрутов для определения маршрута, который наиболее близко соответствует множеству предполагаемых позиций; и ! сравнение множества упомянутых предполагаемых позиций с определенным маршрутом для вычисления коэффициента ошибок. ! 2. Способ по п.1, дополнительно содержащий передачу упомянутого коэффициента ошибок на устройства дифференциальной глобальной системы определения местоположения. ! 3. Способ по п.2, ...

СПОСОБ ОПРЕДЕЛЕНИЯ МЕСТОПОЛОЖЕНИЯ ДВИЖУЩЕГОСЯ ОБЪЕКТА В НАВИГАЦИОННОЙ СИСТЕМЕ

... 1. Способ определения местоположения движущегося объекта в навигационной системе, включающий следующие операции: (a) получение данных GPS о местоположении от движущегося объекта; (b) определение зоны отсутствия приема сигналов GPS с использованием полученных данных GPS о местоположении; (c) вычисление дистанции прямолинейного перемещения движущегося объекта относительно последних данных GPS о местоположении в зоне приема сигналов, когда движущийся объект находится в зоне отсутствия приема сигналов GPS; (d) вычисление данных о виртуальном местоположении с использованием вычисленной дистанции прямолинейного перемещения движущегося объекта; и (e) вычисление на цифровой карте расчетного местоположения, ближайшего по своим данным к виртуальному местоположению, и осуществление согласования с картой для навигационного обеспечения. 2. Способ по п.1, отличающийся тем, что операция (b) включает следующие шаги: (b-1) вычисление идентифицирующего значения надежности данных GPS о местоположении с использованием ...

Verfahren zum Lokalisieren und Weiterbilden einer digitalen Karte durch ein Kraftfahrzeug; Lokalisierungseinrichtung

Die Erfindung betrifft ein Verfahren zum Lokalisieren und Weiterbilden einer digitalen Karte (1) durch ein Kraftfahrzeug (2). Um auf ressourcensparende Weise eine Lokalisierung des Kraftfahrzeugs anhand einer digitalen Karte zu ermöglichen sowie die digitale Karte simultan weiterzubilden, sind folgende Schritte vorgesehen:- Empfangen einer digitalen Teilkarte (4) einer Mehrzahl von Teilkarten (4) der digitalen Karte (1) durch das Kraftfahrzeug (2) aus einer Datenbank (7), wobei die digitale Karte (1) nach einer vorbestimmten Teilungsvorschrift in die Mehrzahl der digitalen Teilkarten (4) aufgeteilt ist, und wobei die digitale Teilkarte (4) eine Umgebung (U) des Kraftfahrzeugs (2) repräsentiert,- Erfassen eines Abbilds (3) der Umgebung (U) des Kraftfahrzeugs (2) mittels einer Sensoranordnung (51) des Kraftfahrzeugs (2),- Lokalisieren des Kraftfahrzeugs (2) in der Umgebung (U) durch Vergleichen der empfangenen digitalen Teilkarte (4) mit dem Abbild (3) der Umgebung (U) des Kraftfahrzeugs ...

ANPASSUNGSFAEHIGE TRAEGHEITSNAVIGATIONSANLAGE FUER FAHRZEUGE.

VORRICHTUNG ZUR NAVIGATION EINES FAHRZEUGES.

Verfahren und Vorrichtung zur Positionsbestimmung für ein Gebührenerfassungssystem

Es werden ein Verfahren und eine Vorrichtung zur Positionsbestimmung für ein Gebührenerfassungssystem, insbesondere zur Erfassung des Befahrens von gebührenpflichtigen Straßen, vorgeschlagen, bei welchem die Bestimmung des aktuellen Ortes des Fahrzeugs auf der Basis von Signalen eines satellitengestützten Ortungssystems, korrigiert mittels digitalen Kartendaten, und vorzugsweise wenigstens eines weiteren Sensorsignals erfolgt.

GNSS-HÖHENKORREKTUR

Es ist ein System und Verfahren zum Bereitstellen von Höheninformationen für ein Fahrzeug vorgesehen, wobei das Verfahren Folgendes beinhaltet: Aufrechterhalten eines Kartenabgleichssoftwaresystems an einer entfernten Servereinrichtung, worin das entfernte Softwaresystem eine geografische Kartendatenbank beinhaltet, die geografische Karten speichert; Empfangen einer Höhenkorrekturanforderung vom Fahrzeug, worin die Höhenkorrekturanforderung aktuelle Fahrzeugstandortinformationen beinhaltet; als Reaktion auf das Empfangen der Höhenkorrekturanforderung vom Fahrzeug, Extrahieren von Höhendaten aus den geografischen Karten, basierend zumindest teilweise auf den aktuellen Fahrzeugstandortinformationen; und nach dem Extrahieren der Höheninformationen aus den geografischen Karten, Senden der extrahierten Höheninformationen an das Fahrzeug, worin die extrahierten Höheninformationen auch Höheninformationen in Bezug auf ein Gebiet am oder in der Nähe des Fahrzeugs oder entlang einer Fahrbahn des ...

STEUERUNGSSYSTEME, STEUERUNGSVERFAHREN UND STEUERUNGEN FÜR EIN AUTONOMES FAHRZEUG

Es sind Systeme und Verfahren zum Steuern eines autonomen Fahrzeugs (AV) vorgesehen. Ein Kartengeneratormodul verarbeitet Sensordaten, um eine Weltdarstellung eines bestimmten Fahrszenarios (PDS) zu erzeugen. Ein Szenenverständnismodul (SUM) verarbeitet Navigationsroutendaten, Positionsdaten und eine Merkmalskarte zum Definieren einer autonomen Fahraufgabe (ADT) und zerlegt das ADT in eine Folge von Teilaufgaben. Die SUMME wählt eine bestimmte Kombination von sensomotorischen Primitivmodulen (SPMs) aus, die für das PDS aktiviert und ausgeführt werden sollen. Jedes der SPMs behandelt eine Teilaufgabe in der Folge. Ein Primitivprozessormodul führt die jeweilige Kombination der SPMs so aus, dass jedes ein Fahrzeugtrajektorie- und Geschwindigkeitsprofil (VTS) erzeugt. Ein ausgewähltes der VTS-Profile wird dann verarbeitet, um die Steuersignale zu erzeugen, die dann an einer Low-Level-Steuerung verarbeitet werden, um Befehle zu erzeugen, die eines oder mehrere der Stellglieder des AV steuern ...

Verfahren zum Ermitteln einer Position eines Objekts

Um ein Verfahren zum Ermitteln einer Position eines Objekts in einer Kartenelemente umfassenden digitalen Karte, auf der eine Landschaft abgebildet ist, in der sich das Objekt befindet, zu schaffen, wird die Verwendung einer Multihypothesentechnik vorgeschlagen, die den Rechenaufwand im Vergleich zu z.B. Partikelfiltern drastisch reduziert. Mit dem vorgestellten Verfahren wird eine Bestimmung einer Position eines Objektes in einer digitalen Karte außer in einem Straßennetzwerk auch in allen anderen Kartenelementen möglich.

POSITIONSINFORMATIONEN-SENDEVERFAHREN UND EINRICHTUNG FÜR EINE DIGITALE LANDKARTE

FAHRZEUGNAVIGATIONSSYSTEM

Navigation method employing a vectorised land map

An on-board vehicle navigation method is specified, in which, with knowledge of the starting location (6) of the vehicle, the location of the vehicle is calculated (31, 41) on the basis of values (2, 4) which are delivered by navigation sensors (1, 3) located on board the vehicle, and this location is transmitted to a vectorised electronic map (9), in order to select a route section (36) which contains the most probable location (35) of the vehicle. In the method, the calculated location (8) is supplemented by an uncertainty area (23; 33) which surrounds it, a route section (26, 27; 36) is looked for (44) in the uncertainty area (23; 33), and the uncertainty area is converted into a reduced area (34) focussed on this route section (36). ...

Verfahren und Vorrichtung für eine geographische Unterstützungslösung für Navigationssatellitensysteme

Verfahren zur Verbesserung der Positionsgenauigkeit eines Empfängers (122), der Satellitensignale (106, 108, 110, 112) zur Navigation empfängt, wobei das Verfahren umfasst:Herleiten (202) eines Anfangsstandorts (602, 702, 706) aus an dem Empfänger (122) empfangenen Daten eines Navigationssatellitensystems, NSS, wobei festgestellt (204) wird, dass der Anfangsstandort (602, 702, 706) in einem relevanten Gebiet liegt;Empfangen (206) von Navigationszustandsinformationen des Empfängers (122);Empfangen (208) ausgewählter Kartografieinformationen aus einer mit dem Empfänger (122) gekoppelten Vorrichtung zur Lokalisierungsunterstützung, wobei die ausgewählten Kartografieinformationen Attribute eines oder mehrerer geografischer Objekte im relevanten Gebiet umfassen;Überlagern (210, 510) des Anfangsstandorts (602, 702, 706) auf die ausgewählten Kartografieinformationen;Herleiten einer Positionskorrektur aus den NSS-Daten, den Navigationszustandsinformationen und den ausgewählten Kartografieinformationen ...

Road map data learning device

A new road detection unit (41) detects a new road according to a travel locus of a vehicle and road map data of a road map data learning device. The new road is not included in the road map data. A road learning unit (42) learns the new road, which is detected by the new road detection unit (41), as a learned road being functional additionally to the road map data. A storage device (50) stores a feature of an erroneous new road, which is erroneously detected by the new road detection unit (41), as learning-prohibited pattern information. The road learning unit (42) restricts learning of a new road detected by the new road detection unit (41) when the feature of the new road detected by the new road detection unit (41) coincides with the learning-prohibited pattern information stored in the storage device (50). The storage device can then transmit the pattern to a processing centre located outside the vehicle.

Vehicle navigation apparatus

NAVIGATION APPARATUS FOR A VEHICLE

On-board device and route interpolating method therefor

Method for the reduction of errors in raw measured data related to predefined data

PROCEDURE AND MECHANISM FOR READING FROM NAVIGATION DATA

POSITION INFORMATION END PROCEDURE AND MECHANISM FOR A DIGITAL MAP

Vehicle for a mobile irrigation plant

Die Erfindung betrifft ein Fahrzeug (10) für eine mobile Bewässerungsanlage mit einem Antrieb und Rädern (11) zum autonomen Befahren eines zu bewässernden Feldes mit Pflanzenbewuchs (12) durch eine Fahrgasse im Pflanzenbewuchs, mit einer EDV, die den Antrieb steuert und mit Sensoren, die den Fahrzustand erfassen und die so ausgebildet sind, dass sie der EDV diese Daten übermitteln. Dazu ist vorgesehen, dass, in Fahrtrichtung gesehen, im vorderen Bereich des Fahrzeuges (10), symmetrisch zur Fahrtrichtung, links und rechts je ein Hebel (2a, 2b) um eine zumindest im wesentlichen vertikale Achse in einem zugeordneten Lager schwenkbar angeordnet ist, dass der Hebel um diese Achse so mit Drehmoment beaufschlagt ist, dass sein freies Ende nach außen gedrängt wird, sodass seine Winkellage vom Pflanzbewuchs (12), an dem er anliegt, bestimmt wird, und dass die Sensoren zur Erkennung und Erfassung dieser Winkellage ausgebildet sind.

USER INTERFACE AND PROCEDURE FOR VEHICLE TAX SYSTEM

CORRECTION PROCEDURE FUER THE OUPLE DETECTION OF LAND VEHICLES.

POSITION INFORMATION END PROCEDURE AND MECHANISM FOR A DIGITAL MAP

Method of locating terminal, and cellular radio system

Localization of a device using multilateration

A method of localisation of a device using multilateration comprising collecting, by an end-user device, a depth map at a location in a path network (s101); extracting, using a processor of the end-user device, two-dimensional feature geometries from the depth map (s103); identifying a number of control points in the extracted feature geometries (s105); calculating distances between the end-user device and the identified control points (s107); receiving location reference information for each identified control point from an external database (s109); and determining a geographic location of the end-user device in the path network through a multilateration calculation using the location reference information of the identified control points and the calculated distances between the end-user device and each identified control point (s111).

Combined relative and absolute positioning method and apparatus

Camera pose estimation techniques

Techniques are described for estimating pose of a camera located on a vehicle. An exemplary method of estimating camera pose includes obtaining, from a camera located on a vehicle, an image including a lane marker on a road on which the vehicle is driven, and estimating a pose of the camera such that the pose of the camera provides a best match according to a criterion between a first position of the lane marker determined from the image and a second position of the lane marker determined from a stored map of the road. C) -o 04d N4( ...

SYSTEME DE NAVIGATION TERRESTRE VISUALISANT EN TEMPS REEL LA POSITION D'UN VEHICULE

SYSTEME DE NAVIGATION TERRESTRE VISUALISANT EN TEMPS REEL LA POSITION D'UN VEHICULE Le système permet de compenser les écarts et dérives des capteurs. Il comporte des capteurs (1) de déplacement dont les signaux sont numérisés (2) pour calculer (3) périodiquement la position estimée (M) du véhicule. La route estimée (TE) est mémorisée (4). Une base de données cartographiques numériques (5) est lue (6) pour extraire et mémoriser (7) la zone utile à afficher et les coordonnées d'un point de recalage. Une unité centrale de gestion et de calcul (8) est programmée pour calculer l'écartométrie (10) entre la position estimée et la position réelle du véhicule en chaque point (B) de recalage et fournir des paramètres de compensation qui sont mémorisés et utilisés lors du recalage suivant, et ainsi de suite. FIGURE 3 ...

AUTOMATIC PAST ERROR CORRECTIONS FOR LOCATION AND INVENTORY TRACKING

A system is provided for tracking and maintaining an inventory of location of containers that are stored on cargo ships or in a container yard. The system includes one or more sensors, such as GPS and INS sensors for obtaining real-time position information, as well as a processor configured to automatically provide post processing to recover lost data and to correct erroneous data, such as when real-time position signals are blocked or distorted, the post processing performed by estimating trajectories and correcting the location errors. Post-processed positioning techniques are continuously applied to the stored position data to iteratively determine calibrated position locations to provide calibrated second trajectory segments in a real- time fashion. The calibrated second trajectories are then used to identify the errors in the past real-time position data as soon as a segment of the second calibrated trajectory becomes statistically trustworthy. Corrections can be automatically made ...

METHOD AND APPARATUS FOR DETERMINING A POSITION OF A VEHICLE

There is provided a computer-implemented method of determining a position of a vehicle within a transport network. The method comprises: obtaining track geometry data indicating track geometry of at least a part of the transport network; determining, based upon the track geometry data, that the vehicle is approaching a junction; determining, based upon the track geometry data, a plurality of route options from the junction; generating a plurality of Bayesian estimation filter algorithms 34 each associated with a respective one of the plurality of route options and configured to estimate a position of the vehicle based upon the track geometry data indicative of the associated route option, wherein the plurality of Bayesian estimation filter algorithms are configured to output data indicative of probabilities of the vehicle taking the associated route options; monitoring the output of the plurality of Bayesian estimation filter algorithms as the vehicle passes through the junction; and determining ...

METHOD AND APPARATUS FOR DETERMINING A POSITION OF A VEHICLE

There is provided a computer-implemented method of determining a position of a vehicle 10 within a transport network. The method comprises obtaining track geometry data indicating track geometry of at least a part of the transport network; receiving first sensor data from an inertial measurement unit 26 mounted to the vehicle 10; executing a Bayesian estimation filter algorithm 34 to predict a position of the vehicle, wherein the Bayesian estimation filter algorithm comprises a process model, the process model comprising a strapdown inertial navigation algorithm 47, and wherein the strapdown inertial navigation algorithm 47 generates data indicative of the predicted position of the vehicle based at least upon the first sensor data and the track geometry data such that the predicted position of the vehicle lies on a track defined by the track geometry data; receiving second sensor data from a sensor 25, 27 other than an inertial measurement unit 26, wherein the sensor is mounted to the vehicle ...

VEHICLE POSITION ESTIMATION DEVICE, VEHICLE POSITION ESTIMATION METHOD

In this vehicle position estimation device, positions of a target present in a periphery of a vehicle are detected, amounts of movements of the vehicle are detected, and the positions of the target are stored as target position data, based on the detected amounts of movements. In addition, map information including the positions of the target is pre-stored in a map database (14), and, by matching the target position data and the map information, a vehicle position of the vehicle is estimated. Further, a turning point Pt1 of the vehicle is detected. Furthermore, target position data in a range from a present location Pn to a set distance D1 and in a range going back from the turning point Pt1 by a set distance D2 to a point [Pt1-D2] are retained.

AUTOMATIC PAST ERROR CORRECTIONS FOR LOCATION AND INVENTORY TRACKING

... ²A system is provided for tracking and maintaining an inventory of location of ²containers that are stored on cargo ships or in a container yard. The system ²includes ²one or more sensors, such as GPS and INS sensors for obtaining real-time ²position ²information, as well as a processor configured to automatically provide post ²processing to recover lost data and to correct erroneous data, such as when ²real-time ²position signals are blocked or distorted, the post processing performed by ²estimating ²trajectories and correcting the location errors. Post-processed positioning ²techniques ²are continuously applied to the stored position data to iteratively determine ²calibrated ²position locations to provide calibrated second trajectory segments in a real-²time ²fashion. The calibrated second trajectories are then used to identify the ²errors in the ²past real-time position data as soon as a segment of the second calibrated ²trajectory ²becomes statistically trustworthy. Corrections can ...

HYDROGEN PRODUCTION USING COMPLEX METAL OXIDE PELLETS

Complex metal oxide-containing pellets and their use for producing hydrogen. The complex metal oxide-containing pellets are suitable for use in a fixed bed reactor due to sufficient crush strength. The complex metal oxide-containing pellets comprise one or more complex metal oxides and at least one of in-situ formed calcium titanate and calcium aluminate. calcium titanate and calcium alurninate are formed by reaction of suitable precursors in a mixture with one or more complex metal carbonates. The complex metal oxide-containing pellets optionally comprise at least one precious metal.

APPARATUS FOR DISPLAYING A TRAVEL POSITION

Disclosed is an apparatus for displaying a travel position, which, in carrying out steps of calculating X- and Y-coordinates of a current position of the moving body; renewably presenting said current position on a road map indicated on a display screen; matching between a travel trace pattern formed by subsequent current positions and each road pattern on the road map; and putting the travel trace on the mated road pattern for correction of the current position of the moving body deviated from the road on the map, can determine what class of the road the moving body is running on, e.g. mountain road, superhighway or other ordinary road, and also can change the pattern matching condition to be adapted for the class of the road.

APPARATUS FOR DISPLAYING A TRAVEL POSITION

Procedure for the Erzeugnung of a digital drive mains circuit board.

СИСТЕМА АВТОМАТИЗИРОВАННОЙ РАБОТЫ ТОРГОВОГО АГЕНТА

Система автоматизированной работы торгового агента может быть применена в системах работы с заказами товара для дистрибьюторов (поставщиков всех групп товаров для торговых сетей). Система содержит по меньшей мере одно электронное мобильное устройство торгового агента, соединенное со средством обмена данными по меньшей мере одного центрального компьютера. Последний содержит программное средство принятия и обработки данных от мобильного устройства торгового агента. Программное средство центрального компьютера создано на программной платформе 1С: Предприятие и он содержит модуль, предназначенный для периодического или непрерывного обмена текущими данными, набор программных модулей для заказа торговым агентом товара для торговой точки, модуль маршрутизации, который соединен с электронными картами местности с возможностью формирования текущего маршрута, модуль формирования графической отчетности на основе данных от программного средства мобильного устройства агента. Использование изобретения ...

СПОСОБ И СИСТЕМА ПОСТРОЕНИЯ КАРТЫ МАРШРУТА ТРАНСПОРТНОГО СРЕДСТВА НА ОСНОВЕ ДАННЫХ ТЕЛЕМАТИКИ

Изобретение относится к области обработки данных, в частности к обработке телематических данных, получаемых от телематического устройства транспортного средства (ТС) для целей построения карты его маршрута. Техническим результатом является повышение точности формирования маршрута движения ТС с привязкой к цифровой карте. Заявленный результат достигается за счет осуществления способа построения карты маршрута ТС на основе данных телематики, который содержит этапы, на которых получают на вычислительном устройстве данные по меньшей мере от одного телематического устройства ТС, включающие по меньшей мере скорость, географические координаты, обороты двигателя ТС, значение снижения точности (DOP), вектор движения (ВД) и время фиксации указанных параметров в точках маршрута; определяют для каждой точки маршрута ВД и DOP, причем если по меньшей мере для одной точки маршрута ВД и DOP отсутствуют, то для данной точки присваивается ВД и DOP известной следующей точки маршрута; выполняют фильтрацию ...

Driving assisting device and driving assisting method

The invention provides a technique which can execute driving assistance under non-matching state. Under the matching state, the state of a matching road chain is determined by reliability above a regulated reference in a map matching process. In the map matching process, a road chain, equivalent to a road area of existing vehicle is determined to be the matching road chain. The current position of the vehicle is detected. Under the non-matching state, a road chain equivalent to a road area closest to the current position is determined as a candidate road chain. An object node of a judging object is connected to a plurality of road chains, and when the candidate road chain changes from one of the plurality of road chains into other road chains, it is determined that the vehicle has passed the position expressed by the object node, and a predetermined driving assistance is conducted.

METHOD, DEVICE AND SYSTEM FOR LOCALIZING A MOVING OBJECT

A combination geographic features of dangerous recognition system and method

Method and system for improving accuracy of digital map data utilized by a vehicle

METHOD FOR DETERMINING A POSE OF AN AT LEAST PARTIALLY AUTONOMOUSLY MOVING VEHICLE USING SPECIALLY SELECTED LANDMARKS TRANSMITTED FROM A BACK END SERVER

The use of the angle position of which determines the water

Real-time real-scene matching vehicle navigation method and device based on double cameras

The invention discloses a real-time real-scene matching vehicle navigation method and a real-time real-scene matching vehicle navigation device based on double cameras. The navigation method uses the manner of combining an ordinary camera and an infrared camera based on navigation of an ordinary navigation map to capture real-time images by the ordinary camera to be displayed on the screen of a navigator, the images captured by the infrared camera are matched with the original navigation map, so that a navigation instruction on the navigation map can be mapped to the real-scene map to finish the real-scene navigation. The device comprises a patch monitor, a display drive unit module, a control storage processing unit module, a navigation information receiving antenna module, a color camera, an infrared camera, a USB output module and a power module, wherein the color camera and the infrared camera are both connected with a control processor of the navigation device. The device disclosed ...

Map road data storage method and device and positioning point matching method and device

Vehicle with navigation system and brake electric energy recovery subsystem

Vehicle GPS data map matching method, device, terminal and storage medium

A method of resolving a location from data representative thereof

The invention provides a method of resolving a location in a second digital map from an ordered list of location reference points determined from a first digital map. The method involves identifying candidate lines and nodes in the second digital map, and using curvature, height and gradient information associated with the location reference points to identify the most likely candidate nodes or lines in the second digital map corresponding to the nodes represented by the location reference points and to lines emanating from or incident at the node in the first digital map. The method involves carrying out a route search between the most likely identified candidate node or line identified for one location reference point, and the corresponding node or line associated with the next reference point in the list, and repeating this step for consecutive pairs of reference points until the final location reference point is reached.

Vehicle cornering prompting method and device, terminal and computer readable medium

The navigation system and navigation system terminal processing method

Public security standard location-based service system combining remote sensing image and local police station data

Method and device for determining interest points, computer equipment and storage medium

Self position estimation method and self position estimation device

The floating vehicle map mapping method

Device and method for allocating a current measurement value for a geographic position to a map object

The road map data retrieval method and device, vehicle-mounted system

Difference analysis method and device for electronic map

The vehicle position estimation apparatus, method for estimating the position of a vehicle

Electronic map generating method, device and a path planning method, device

Pose matrix determination method, positioning method, processor and mobile robot

The invention relates to the field of computers, in particular to a pose matrix determining method, a positioning method, a processor and a mobile robot, and the method comprises the steps: generating a matrix multiplication unit M and a scheduling matrix R according to the dimensionality of a declared matrix A; based on the matrix A and the matrix multiplication unit M, generating a rotation matrix J composed of positive rotation values and residual rotation values of three angles; the matrix A is updated; the matrix J1 is updated; after the matrix A and the matrix J1 are updated for set times, a matrix A'and a matrix J1 'are obtained, and if the matrix A' meets set conditions, a pose matrix P 'is obtained based on the matrix A', the matrix J1 ', the matrix multiplication unit M and the obtained gradient matrix G. According to the method, updating of the matrix A and updating of the matrix J1 are achieved through the matrix multiplication unit M, complex operation of data is effectively ...

Terrestrial navigation method.

Reliable telematic location system for locating motor vehicle in case of failure or accident, has communication unit communicating with remote geolocation service for transmitting calculated current position of system

L'invention concerne un système télématique de localisation fiabilisée comprenant un dispositif de positionnement géographique (1) apte à fournir des données de géolocalisation (X, Y, Z), des moyens de navigation à l'estime (2) apte à fournir des données de positionnement (X', Y', Z') par rapport aux données de géolocalisation reçues, une base de données cartographiques (5) et des moyens de calcul (3) d'une position courante (Xe, Ye, Ze) sur la base des données de géolocalisation et de positionnement reçues en corrélation avec les données cartographiques, caractérisé en ce que les données cartographiques répertoriées dans la base sont limitées à des zones géographiques où la réception de données de géolocalisation par le dispositif de positionnement géographique est difficile et en ce que le système télématique comprend en outre des moyens de communication (4) avec un service distant de géolocalisation pour transmettre la position courante calculée.

METHOD OF CALIBRATION OF the ORIENTATION Of a Video camera EMBARQUEE

NAVIGATION AID METHOD AND IMPROVED TERRESTRIAL BROWSER

DEVICE Of ASSISTANCE TO NAVIGATION, IN PARTICULAR INSIDE BUILDINGS

La présente invention concerne un dispositif d'aide à la navigation comportant : - au moins une centrale inertielle (1); - un module d'intégration (5) estimant la position, la vitesse et l'orientation du porteur à partir des données fournies par la centrale inertielle (1) ; - une carte numérisée (22) des lieux dans lesquels évolue le porteur, ladite carte stockant un réseau navigable (42) le long duquel peut se déplacer le porteur ; - un module (33) générateur de pseudo-mesures de position à partir de la position estimée par le module d'intégration (5) et des données cartographiques fournies par la carte numérisée (22), une pseudo-mesure de position indiquant la position qui devrait être estimée par le module d'intégration (5) en présence de contraintes de mouvement imposées par la carte numérisée des lieux (22) ; - un filtre de Kalman étendu indirect (3) relié au module (33) générateur de pseudo-mesures de position par un interrupteur (7), ledit filtre estimant les erreurs sur la position ...

CROSS ROAD GUIDING APPARATUS AND METHOD OF CAR NAVIGATION USING A CAMERA, CAPABLE OF HELPING A DRIVER TO DRIVE COMPLEX CROSS ROADS BY PROVIDING ACCURATE TURN-BY-TURN INFORMATION ON THE CROSS ROAD

PURPOSE: A cross road guiding apparatus and method of car navigation are provided to use a camera to obtain information of traffic facilities at a complex cross road, where is not easy to receive GPS(Global Positioning System) information. CONSTITUTION: A cross road guiding apparatus includes an image input unit(200), an image output unit(210), a GPS receiving unit(220), a navigation information unit(230), an image recognizing unit(240), a cross road checking unit(250), a cross road center checking unit(260), a direction indicating unit(270), and a control unit(280). The image recognizing unit recognizes traffic facilities from a front image of a car. The cross road checking unit determines whether the car approaches the cross road by using GPS location information on the car and cross road included in the navigation information. The cross road center checking unit checks the center point of the cross road from the front image of the car as the car approaches the cross road. The control ...

System for evaluating point of interest and method thereof

Method and Apparatus for Recognizing Vehicle

A NAVIGATION APPARATUS AND METHOD FOR DISPLAYING TOPOGRAPHY THEREOF

APPARATUS AND METHOFD FOR INSTALLING APPLICATION DATA SPECIALIZED NAVIGATION SYSTEM

MAP MATCHING METHOD FOR MORE REALISTIC TURN GUIDE AT INTERSECTION AND A NAVIGATION SYSTEM

PURPOSE: A map matching method at intersection and a navigation system are provided to offer more natural and realistic guide at the intersection by reflecting a predetermined curvature to mapping data for turn guide at the intersection. CONSTITUTION: A map matching method at intersection includes a step of searching a path to the destination designated by the user and a step of reflecting a curvature corresponding to the type and turning direction of the intersection to map matching data for turn guide at the intersection when the intersection is detected. A navigation system comprises a path calculation unit(220), a storage(230), a user interface(240), a display unit(250), a voice output unit(260), and a controller(270), where an intersection database including curvature defined according to the type and turning direction of intersection is stored in the storage. © KIPO 2009 ...

A METHOD OF GENERATING IMPROVED MAP DATA FOR USE IN NAVIGATION DEVICES

An end-user can input a correction to a map error, directly on the device. The device is then able to use the correction without external processing of the correction. Hence, it is no longer necessary for an end-user to simply report errors to the map vendor over a web link, then wait for that map vendor to verify the error, update its maps and finally supply the end-user with updates-a cycle that can take months and sometimes years to complete Instead, the navigation device can use the correction immediately. End-users can also share corrections with other end-users and also with a shared remote server that aggregates, validates and distributes corrections. © KIPO & WIPO 2009 ...

ROUTE SUMMARY INFORMATION SERVICING APPARATUS AND A METHOD THEREOF, CAPABLE OF EASILY OBTAINING INFORMATION ABOUT MOVEMENT ROUTES

PURPOSE: A route summary information servicing apparatus and a method thereof are provided to obtain user interface environment capable of rerouting at specific sections in a process of checking route information summary about movement route to the destination location. CONSTITUTION: A route summary information servicing apparatus comprises a system controller(720) and an interface unit(730). The system controller provides route information summary which summarizes information about movement route between start point and a destination location. The interface unit displays the route information summary and inputs user command about route information summary. The system controller controls the whole operation of the system. COPYRIGHT KIPO 2010 ...

System and Method for providing object information from aspherical image acquired by omnidirectical camera

PURPOSE: An object information supplying system and method thereof which uses a spherical image in all directions are provided to rapidly supply three dimensional information and data information through object information within an image. CONSTITUTION: An image database(11) stores a spherical image from a front camera of a moving unit and a GPS(Global Positioning System)/INS(Inertial Navigation System) apparatus. An object information database(13) stores object information within a photographing area. A display module(20) displays a spherical image of the image database. A matching unit(30) overlaps object information of the object information database in a displayed spherical image. COPYRIGHT KIPO 2011 ...

다변측량을 이용한 디바이스의 위치 확인

... 최종 사용자 디바이스에 의해, 경로망 내의 위치에서의 깊이 맵을 수집하는 단계(s101); 최종 사용자 디바이스의 프로세서를 사용하여, 깊이 맵으로부터 2차원 피처 지오메트리들을 추출하는 단계(s103); 추출된 피처 지오메트리들 내의 다수의 제어점을 식별하는 단계(s105); 최종 사용자 디바이스와 식별된 제어점들 간의 거리를 계산하는 단계(s107); 외부 데이터베이스로부터 각각의 식별된 제어점에 대한 위치 참조 정보를 수신하는 단계(s109); 및 식별된 제어점들의 위치 참조 정보 및 최종 사용자 디바이스와 각각의 식별된 제어점 간의 계산된 거리를 이용한 다변측량 계산을 통해 경로망 내의 최종 사용자 디바이스의 지리적 위치를 결정하는 단계(s111)를 포함하는 다변측량을 이용한 디바이스의 위치 확인 방법.

NAVIGATION APPARATUS WITH A PERSONALIZED INTERFACE AND A PERSONALIZED INTERFACE METHOD TO PROTECT PERSONAL INFORMATION

PURPOSE: A navigation apparatus with a personalized interface and a personalized interface method are provided to improve privacy protection by offering the personalized interface and managing personal information of each user individually. CONSTITUTION: A navigation apparatus with a personalized interface comprises a common input device(120), a system control part(110), an individual input unit(140), and a communication module(130). The common input device provides a user interface related to navigation and personalizes the user interface based on personal information of each user. The system control part manages and stores the personal information according to user. The individual input unit implements a user interface related to navigation and is able to be used in an external environment. COPYRIGHT KIPO 2010 ...

MAP MATCHING FOR SECURITY APPLICATIONS

An embodiment of the invention relates to a device for map matching a measured position of an object using information from a digital map. A processing unit performs a first selection of cartography elements of the map based on the measured position and based on a predefined error. The processing unit is further designed to provide the selected cartography elements to a first and a second sub-processing unit. Values of the sub-processing units are further converted into the same unit of measurement. COPYRIGHT KIPO & WIPO 2010 ...

METHOD FOR PREVENTING BEING LATE TO A DESTINATION BY INFORMING AN OPERATOR IN CASE OF BEING DELAYED THAN A TARGET TIME

PURPOSE: A method for preventing being late to a destination is provided to inform an operator of delay to a destination in case of seceding a route to the destination by setting a target time for arriving at the destination location in advance. CONSTITUTION: A method for preventing being late to a destination comprises the following steps. A destination and a target time to arrive at the destination are registered(S101). A route to the destination is searched and an estimated arrival time to the destination is produced(S103). Whether the estimated arrival time is behind to the target time or not is decided(S105). If the estimated arrival time is behind to the target time, the delay is informed(S106). If arriving at the destination through a via point, a route is searched through the via point and produces an estimated arrival time(S113). COPYRIGHT KIPO 2010 ...

MAP MATCHING DEVICE AND A METHOD THEREOF USING THE PLANAR DATE OF A ROAD, WHICH CAN IMPROVE THE MAP MATCHING PERFORMANCE ABOUT A GPS RECEIVING POSITION

PURPOSE: A map matching device and a method thereof using the planar date of a road, which can improve the map matching performance about a GPS receiving position, is provided to minimize the map matching error of navigation and to improve the reliability of a user about a system and a service. CONSTITUTION: A map matching device using the planar date of a road comprises a position determining part(420) and a map matching part(430). The position determining part decides whether the GPS receiving position receiving a GPS signal locates within the planar date of the road. The map matching part performs the map matching about the GPS receiving position according the GPS receiving position. COPYRIGHT KIPO 2011 ...

DEVICE AND METHOD TO CORRECT LOCATION INFORMATION OF VEHICLE

The present invention relates to a device and a method to correct location information of a vehicle. The device to correct location information of the vehicle comprises: a location information receiving unit receiving information on the location of the vehicle; a DR sensor unit measuring DR information of the vehicle; and a control unit matching a map based on the DR information measured by the DR sensor unit and the information on the location of the vehicle received by the location information receiving unit, and correcting a DR sensor included in the DR sensor unit based on the performed map matching when the location matched in accordance with the performed map matching is matched to a road line. COPYRIGHT KIPO 2016 (AA) Start (BB) End (S200) Location information and DB information obtaining (S210) Matching a map (S220) Is the matched position matched to a road lane? (S230) Correcting a DR sensor (S240) Calculating location information of a vehicle using the corrected DR sensor information ...

APPARATUS AND A METHOD FOR ESTIMATING THE LOCATION OF VEHICLES USING THE PIXEL SIZE AND THE LOCATION OF FACILITIES AS IMAGES BASED ON MAP MATCHING

PURPOSE: An apparatus and a method for estimating the location of vehicles using the pixel size and the location of facilities as images are provided to enhance user convenience by compensating for GPS(Global Positioning System) signals through map matching with lanes. CONSTITUTION: Images of current position is photographed through a video camera mounted on vehicles and traffic facilities are identified based on the photographed images of current position(201). Types of traffic facilities are identified by comparing the identified facilities with stored facilities, and the pixel size and the location of the facilities are extracted(202). The distance between the facilities and vehicles are identified by comparing the distances on pixel sizes of extracted facilities with stored facilities(203). Lanes are corrected according to the comparison of lane information and the location of the extracted facilities(204). The position of the vehicles is predicted based on the distance information, ...

METHOD AND AN APPARATUS FOR PROCESSING GPS BASED ON VEHICLE SPEED BY CHANGING LOCATION MEASUREMENT PERIOD

PURPOSE: A method and an apparatus for processing GPS based on vehicle speed are provided to display a driving route without error by changing a period of GPS signal process according to vehicle speed and a traveling route. CONSTITUTION: A method and an apparatus for processing GPS based on vehicle speed are comprised of the steps: setting a GPS signal processing cycle according to vehicle speed(S21); Detecting the vehicle speed while displaying the driving path of the vehicle(S22); and displaying the traveling route by using a GPS signal processing cycle corresponding to the detected vehicle speed(S23). The GPS signal processing cycle is changeable. © KIPO 2009 ...

SELECTING FEATURE GEOMETRIES FOR LOCALIZATION OF A DEVICE

dispositivo de estimação de posição e método de estimação de posição

Positioning method and system for real navigation and computer readable storage medium

A positioning method for real navigation includes steps of receiving a satellite positioning signal; calculating a satellite positioning coordinate according to the satellite positioning signal; capturing a real scene image of a driving path; recognizing whether an indicator exists in the real scene image; if the indicator exists in the real scene image, calculating an auxiliary positioning coordinate according the indicator; and calculating a current coordinate corresponding to the driving path according to the satellite positioning coordinate and the auxiliary positioning coordinate.

METHOD FOR UPDATING A DIGITAL STREET MAP

ASSISTING A MOTOR VEHICLE DRIVER IN NEGOTIATING A ROUNDABOUT

VISUAL POSITIONING SYSTEM

A visual positioning system for indoor locations with associated content is provided herein. The system has a map creator and a viewer. The map creator maps the indoor location by acquiring plans thereof, detects paths through the location and associates with the paths frames relating to objects and views of the paths. The viewer allows a user to orient in the indoor location by locating the user with respect to a path. The viewer enhances GPS/WIFI/3G data by matching user-captured images with the frames, and then interactively displaying the user data from the mapped paths with respect to user queries.

VEHICLE LOCATION DETERMINING METHOD AND SYSTEM

The present disclosure relates to a vehicle location determining method. The vehicle location determining method comprises the steps of: acquiring a vector map indicating a plurality of semantic objects in a road area which includes a first location of a vehicle; converting the vector map into a bitmap; generating a local submap by using a plurality of view images captured by an image sensor of the vehicle; and determining a second location of the vehicle on the basis of the converted bitmap and the generated local submap.

REMOTE OPERATION EXTENDING AN EXISTING ROUTE TO A DESTINATION

An apparatus for remote support of autonomous operation of a vehicle includes a processor that is configured to perform a method including receiving, from a vehicle traversing a driving route from a start point to an end point at a destination, an assistance request signal identifying an inability of the vehicle at the destination to reach the end point, generating a first map display including a representation of a geographical area and the vehicle within the geographical area, receiving, from the vehicle, sensor data from one or more sensing devices of the vehicle, generating a remote support interface including the first map display and the sensor data, and transmitting instruction data to the vehicle that includes an alternative end point at the destination responsive to an input signal provided to the remote support interface.

SYSTEMS AND METHODS FOR VEHICLE NAVIGATION

A navigation system for a host vehicle may include a processor programmed to determine at least one indicator of ego motion of the host vehicle. A processor may be also programmed to receive, from a LIDAR system, a first point cloud including a first representation of at least a portion of an object and a second point cloud including a second representation of the at least a portion of the object. The processor may further be programmed to determine a velocity of the object based on the at least one indicator of ego motion of the host vehicle, and based on a comparison of the first point cloud, including the first representation of the at least a portion of the object, and the second point cloud, including the second representation of the at least a portion of the object.

SYSTEM AND METHOD FOR PRECISION LOCALIZATION AND MAPPING

A method for localization and mapping, including recording an image at a camera mounted to a vehicle, the vehicle associated with a global system location; identifying a landmark depicted in the image with a landmark identification module of a computing system associated with the vehicle, the identified landmark having a landmark geographic location and a known parameter; extracting a set of landmark parameters from the image with a feature extraction module of the computing system; determining, at the computing system, a relative position between the vehicle and the landmark geographic location based on a comparison between the extracted set of landmark parameters and the known parameter; and updating, at the computing system, the global system location based on the relative position.

ALLOCATION OF A REFERENCE POSITION TO A CHARACTERISTIC PROGRESSION OF A MOTION RECORDING SENSOR SIGNAL

The invention relates to a method for determining a reference position (61) as a basis for a correction (46) of a GNSS position (12) of a vehicle (2), which GNSS position is located by means of a global satellite navigation system (15) called GNSS, the GNSS position containing an absolute position (76) of the vehicle (2), comprising: sensing the absolute position (76) of the vehicle (2) by means of the GNSS (15) when an output signal (20, 28, 34) from a motion recording sensor (18, 26, 32) of the vehicle (2) has a characteristic progression (60); determining the reference position (61) on the basis of the sensed absolute position (76); and associating the reference position (61) with the characteristic progression (60) of the output signal (20, 28, 34).

Vehicle navigation system

A vehicle navigation system having a database configured to store map data. The database includes links corresponding to road segments and attributes associated with the links. The map data includes at least some links associated with a curvature attribute. A mean absolute curvature ( κ ) is stored for the curvature attribute for corresponding links. The mean absolute curvature ( κ ) may be determined from a normalized sum or integral of absolute curvature values along the road segment corresponding to the link. The system includes a processing unit configured to estimate an energy consumption of the vehicle for a link using the curvature attribute retrieved from the database for the link.

Road estimation device and method for estimating road

A road estimation device receives data including a core point being assigned along a road and being assigned with attributes including at least a shape-relevant attribute being relevant to a road shape for identifying the road. A map data input unit inputs map data including links having attributes. A link narrowing down unit sets a search area for the core point in a map and extracts links in the search area from the map data, according to the attributes of the link and the shape-relevant attribute of the core point. The link narrowing down unit further narrows down the extracted links into a candidate link being candidate of the road represented by the core point for estimating the road on a map, according to parallel road information being the shape-relevant attribute.

Position determination using horizontal angles

An access terminal of a wireless communication system includes a transceiver configured to receive wirelessly multiple reference keypoints and a geographical location of each respective reference keypoint, each geographical location being a location near an estimated position of the access terminal; at least one camera communicatively coupled to the transceiver and configured to capture an image; and a processor communicatively coupled to the at least one camera and configured to calculate a refined position of the access terminal, that is more accurate than the estimated position, using first and second horizontal angles between the geographical locations of respective first and second pairs of reference keypoints determined as each corresponding to a respective image keypoint identified within the image captured by the at least one camera.

Course guidance system, course guidance method, and course guidance program

Course guidance systems, methods, and programs determine that a vehicle is exiting from a facility to an out-of-facility road via an exit lane, and determine an estimated connection angle of the exit lane at an exit/entrance node. The systems, methods, and programs generate course guidance information based on the determined estimated connection angle when the vehicle is determined to be exiting. Based on the vehicle location information and the road information, the systems, methods, and programs detect whether an actual traveling road and the guidance road differ. Based on the vehicle location information and the road information, the systems, methods, and programs correct the estimated connection angle at the exit/entrance node based on a relative angle between the actual traveling road and the guidance road, and record the corrected estimated connection angle.

Method for providing poi information for mobile terminal and apparatus thereof

A method and apparatus for providing point of interest (POI) information of a mobile terminal. The method and apparatus extract POI information, where the POI information and/or associated road information is included in an image captured by a camera. Location information of an image capture place and image capture direction information are read from the digital photo image, and the POI information corresponding to the location and image capture direction information is extracted from a map data, and the extracted POI information is thereafter displayed on the digital photo image.

Technique for calculating a location of a vehicle

A technique for calculating a location of a first vehicle is described. A method implementation of this technique comprises the steps of detecting, from the perspective of the first vehicle, a movement of a second vehicle relative to the first vehicle, determining, for the time of the relative movement, a location of the second vehicle based on the detected relative movement by matching the detected movement of the second vehicle against map data, measuring, for the time of the relative movement, a distance between the first and second vehicles, and calculating the location of the first vehicle based on the measured distance and the determined location of the second vehicle. The technique also comprises an apparatus, a computer program product, and a vehicle navigation system.

System, Apparatus and Method for Mapping

The present invention provides a novel apparatus and method for mapping of urban regions. An apparatus includes the remote sensing equipment that is connected to a computer processor. The remote sensing equipment gathers imaging data about an urban region. The computer processor interprets the imaging data to generate a map of the urban region comprising representations that identify a first set of indicia representing physiographic characteristics, a second set of indicia representing different types of built forms, and a third set of indicia representing patterns of human activity associated with both the physiographic characteristics and the built forms. The map can also include a fourth set of indicia representing an intensity level that at least one of the other types of indicia occurs. 139-. (canceled)40. An apparatus for generating a map comprising:at least one input device for receiving, remotely sensed data of an urban region that includes a plurality of built forms;at least one processor, connected to said at least one input device, operable to determine a type of each said built form in said remotely sensed data based on a comparison of said built forms found in said remotely sensed data with a known database of a plurality of different types of built forms; andan output device connected to said microprocessor for generating output containing indicia identifying said determined type of each built form in said region, said output presented in a graphical form that represents said region and including a location of each said built form according to said determined type.41. The apparatus of wherein said database contains data representing at least one of a detached house claim 40 , a semi-detached house claim 40 , a row house claim 40 , a mid-rise apartment building claim 40 , a high-rise apartment building claim 40 , and a single detached trailer claim 40 , a mid-rise office building claim 40 , a high-rise office tower claim 40 , a main street shop building ...

Method for Accurately Determining the Locations of Public Transportation Stations

The present invention relates to a method for approximating the location of a public transportation station comprising the steps of: (a) receiving the coordinates of a station of said public transportation; (b) receiving a number of GPS readings, each indicative of the location of said station of said public transportation; (c) filtering said GPS readings in relation to said coordinates of the said station of said public transportation; and (d) calculating said approximated location of the public transportation station based on said filtered GPS readings. 1. A method for approximating the location of a public transportation station comprising the steps ofa. receiving the coordinates of a station of said public transportation;b. receiving a number of GPS readings, each indicative of the location of said station of said public transportation;c. filtering said GPS readings in relation to said coordinates of the said station of said public transportation; andd. calculating said approximated location of the public transportation station based on said filtered GPS readings.2. A method according to claim 1 , where the calculating of the approximated location of the public transportation station is done by selecting the GPS readings that are within a proximity to the coordinates of the received station of said public transportation and calculating the average location of said selected GPS readings.3. A method according to claim 1 , where the calculating of the approximated location of the public transportation station is done by selecting the GPS readings that are within a proximity to the coordinates of the received station of said public transportation and calculating the median of said selected GPS readings.4. A method according to claim 1 , where the calculating of the approximated location of the public transportation station is done by ranking the GPS readings based on the number of said GPS readings in the stop accuracy range of each of said GPS readings and ...

POSITION ACCURACY TESTING SYSTEM

Accuracy of a positioning device may be determined without requiring the device to be at any specific location, such as a test location. Instead of comparing the reported location and directional data to a known location and directional data, the present technology may use multiple discrete location and directional reports for comparison with the reported data at multiple locations. The multiple comparisons are used to assess the relative accuracy of the positional telematics system. The reported location may be a GPS location or from another positioning system. 1. A method for determining accuracy of positional data , comprising:executing by a processor a data selection module stored in memory to select positional data points retrieved for a vehicle moving on a road to compare to geo-data points for the road;comparing the positional data points to the geo-data points; anddetermining the accuracy of the positional data points based on the comparison.2. The method of claim 1 , wherein comparing includes comparing a positional data point location to a geo-data point location.3. The method of claim 1 , wherein comparing includes comparing a positional data point heading to a geo-data point heading.4. The method of claim 1 , wherein comparing includes comparing a positional data point direction to a geo-data point direction.5. The method of claim 1 , wherein selecting a positional data point includes determining if the position data location is within a threshold of a geo-data point location.6. The method of claim 1 , wherein selecting a positional data point includes determining if the position data heading is within a threshold of a geo-data point heading.7. The method of claim 1 , wherein selecting a positional data point includes determining if the position data speed is within a threshold of a geo-data point speed.8. The method of claim 1 , wherein positional data points include global positioning system (GPS) data.9. A system for determining accuracy of positional ...

MAP MATCHING SYSTEM, MAP MATCHING METHOD AND PROGRAM

Provided is a device, method and program enabling high-speed map matching while maintaining a precision of an analysis based on a map matching result even when event data is transmitted from numerous vehicles. 1. A map matching device accessible to a road data storage device which stores information indicative of a relationship among a range of each grid obtained by dividing a region where a road network exists in a latitude direction and a longitude direction by equal spaces , a grid ID unitarily assigned to each set of grids whose sets of arcs which are roads are common and an arc passing the grid , comprising:an event collecting unit for receiving event data indicative of a position and a state of a vehicle;an event grid matching unit for specifying a grid ID of a grid to which a generation position included in event data received by said event collecting unit belongs to generate information with the grid ID and the event data correlated with reference to the information stored in said road data storage device;an event data selecting unit for selecting, on a basis of a grid ID correlated with event data by said event grid matching unit, when the number of pieces of event data correlated is larger than a threshold value, as many pieces of event data as the threshold value and when the number of pieces of event data correlated is not more than the threshold value, selecting all the event data correlated;an event road matching unit for specifying, on a basis of each event data selected by said event data selecting unit, an arc closest to a generation position of the event data from among arcs correlated with a grid ID corresponding to the event data; andan event road storing unit for storing information indicative of a correspondence relationship between an arc specified by said event road matching unit and event data.2. The map matching device according to claim 1 , further comprisinga threshold value control unit for determining a threshold value for use by said ...

RESOLVING GPS AMBIGUITY IN ELECTRONIC MAPS

An electronic map system obtains a vehicle's GPS fix from a GPS receiver and compares the fix with nearby map features such as road segments. Due to GPS inaccuracies, several such map features may correspond to a GPS fix. To determine which map feature should be shown as the location of the vehicle on the electronic map, the system infers a best fit among the map features that are close to the GPS fix by considering both distance and inferred characteristics of each map feature, such as prior GPS fixes and typical vehicle direction and speed on such feature. Some of these characteristics may be retrieved from a database and may be based on historical observations while others may be obtained in real time, for instance from on-board vehicle sensors. 1. A system for correlating a vehicle's location with a displayed map feature , comprising:a data reception module configured to obtain a location fix for the vehicle;a database subsystem operably connected to the data reception module configured to provide a subset of map features responsive to the location fix; andan inference processor operably connected to the database subsystem and configured to obtain inference data pertinent to which of the subset of map features should be selected as the displayed map feature, and processing the subset of map features responsive to the location fix and the inference data to determine a correspondence between the vehicle's location and the displayed map feature.2. The system of claim 1 , wherein the inference data relate to characteristics of the map features and are derived from observed vehicle movement.3. The system of claim 1 , wherein the inference processor is operably connected to the data reception module and is further configured to obtain therefrom claim 1 , as the inference data claim 1 , at least one of: a prior vehicle location reading claim 1 , a vehicle speed reading claim 1 , a vehicle direction reading claim 1 , a location accuracy reading claim 1 , a signal ...

Altitude reliability determining system, data maintenance system, driving assistance system, altitude reliability determining program, and method

Systems, methods, and programs acquire map information including road width data and background type data. The systems, methods, and programs acquire altitude information indicating an altitude of each unit region, the unit region being set by dividing a map indicated in the map information into a plurality of unit regions having a predetermined size, and calculate a predicted altitude of each of a plurality of reference points based on the road information and the altitude information, the plurality of reference points being set along a road. The systems, methods, and programs determine a predicted altitude reliability of each of the reference points based on at least one of the background type data and the road width data at the position of the each of the reference points.

Navigation system with map matching mechanism and method of operation thereof

A method of operation of a navigation system includes: receiving a current position for locating a device; adding a new edge from a road topology map to a topological tree based on the current position; removing an old edge from the topological tree based on the current position; determining a matched edge of the topological tree based on the current position and the topological tree; and calculating an adjusted location based on the matched edge for displaying on the device.

Apparatus and method for performing map matching

An apparatus performs a space map matching on a position of a user terminal measured through a positioning process and display the measured positions of the user terminal on a map in which a plurality of spaces are constructed. The space map matching is performed to determine in which space the user terminal is located among the plurality of spaces.

Mini-Map-Matching for Navigation Systems

The present invention uses a map database which is created with the view of optimization in terms of size and complexity, so that it can be easily embedded into a navigation chip. The optimized map database is referred to as a “mini-map” database. The mini-map database easily integrates with the position calculation routine. The algorithm for position calculation includes a map-matching component, which is referred to as the “mini-map-matching” (MMM) algorithm, which is implemented on the navigation chip. Application of the present invention includes any navigation system for vehicles and/or pedestrians. The navigation system may include an inertial sensor, such as a dead-reckoning (DR) sensor, for further improvement in calculated positional accuracy when satellite signals are degraded due to environmental factors.

GENERATION OF PROXIMITY INFORMATION

The present disclosure relates to generating proximity information. The method includes receiving and processing location information. The location information is then processed. The processed location information is then used to generate proximity information. 1. A method for generating vehicle proximity information , comprising:receiving vehicle location information from a first vehicle by a server;generating vehicle proximity information based at least in part on the vehicle location information by the server; andtransmitting the vehicle proximity information.2. The method of claim 1 , wherein the vehicle proximity information comprises location information from other vehicles claim 1 , objects claim 1 , and/or locations within a certain distance from the first vehicle.3. The method of claim 2 , further comprising transmitting an alert when the vehicle proximity information indicates proximity of the first vehicle to other vehicles claim 2 , objects claim 2 , and/or locations.4. The method of claim 2 , wherein objects comprise objects which would be damaged in a collision with the first vehicle.5. The method of claim 4 , wherein the objects comprise a marker claim 4 , mine shaft claim 4 , rig claim 4 , and/or building.6. The method of claim 1 , wherein vehicle location information comprises claim 1 , location claim 1 , speed claim 1 , and direction relating to the first vehicle.7. The method of claim 1 , wherein the generating comprises aggregating information relating to other vehicles claim 1 , objects claim 1 , and/or locations within proximity to the first vehicle.8. The method of claim 1 , wherein the transmitting comprises transmitting the vehicle proximity information to the first vehicle.9. A non-transitory computer readable medium having stored thereon program instructions executable by a computing device that claim 1 , when executed by the computing device claim 1 , direct the computing device to:receive vehicle location information from a first vehicle ...

METHOD FOR VALIDATING INLAND BARRIER CROSSING IN A DIGITAL MAP

A method for detecting inland barrier (16, 16′) crossings (24, 26, 30) using speed layers from community input probe traces in combination with a digital map. Inland barrier crossing specifications are detected and/or validated using information about the speed of probes that actually cross the barrier (16, 16′). A bridge (26) across the inland barrier (16) is inferred if the velocity average for barrier crossing probe traces is greater than an established threshold value. Conversely, a ferry (24) is inferred if the average velocity for barrier crossing probe traces is less than the established threshold value. When there is a prominent gap in the data for the barrier crossing probe traces, a tunnel (30) is inferred. 1. A method for validating an inland water barrier crossing specification in a digital map by observing local probe data , said method comprising the steps of:providing a digital map having at least two road segments separated from one another by an inland water barrier;reporting data from a plurality of probe traces traveling the at least two road segments in the vicinity of the inland water barrier, the reported data including velocity information or enabling the derivation of velocity information;identifying barrier crossing probe traces that traverse the inland water barrier crossing from one road segment to the other road segment;computing a velocity average for the barrier crossing probe traces;establishing a crossing speed threshold value;inferring a bridge linking the two road segments across the inland water barrier if the velocity average for the barrier crossing probe traces is greater than the crossing speed threshold value, and inferring a ferry linking the two road segments across the inland water barrier if the velocity average for the barrier crossing probe traces is less than the crossing speed threshold value; andaltering the digital map, as needed, to designate a bridge or a ferry interconnecting the two road segments across the ...

Apparatus Configured to Select a Context Specific Positioning System

An apparatus comprising: a processor and memory including computer program code, the memory and the computer program code configured to, with the processor, cause the apparatus to: detect sound from an environment proximal to a device; determine a context of the device using the detected sound; and provide signaling to allow for selection of a context-specific service for use in navigation by the device based upon the result of the determined context. 136-. (canceled)37. An apparatus comprising: detect sound from an environment proximal to a device;', 'determine a context of the device using the detected sound; and', 'provide signaling to allow for selection of a context-specific service for use in navigation by the device based upon the result of the determined context., 'a processor and memory including computer program code, the memory and the computer program code configured to, with the processor, cause the apparatus to38. The apparatus of claim 37 , wherein the context is whether the device is located indoors or outdoors.39. The apparatus of claim 38 , wherein the context-specific service is at least one of: a geographical positioning service and a map.40. The apparatus of claim 39 , wherein claim 39 , if the device is determined to be located indoors claim 39 , the geographical positioning service is at least one of the following: a mobile phone network service claim 39 , a wireless local area network service claim 39 , a radio frequency identification service claim 39 , a Bluetooth™ service claim 39 , and a near field communication service and the map is a floor plan.41. The apparatus of wherein determination of the device context is performed by at least one of the following:a) comparing the detected sound with at least one prerecorded sound stored in a database, andb) comparing at least one audio feature extracted from the detected sound with at least one respective predetermined audio feature stored in a database.42. The apparatus of claim 41 , wherein ...

AUTOMATIC CORRECTION OF TRAJECTORY DATA

Initial trajectory data that provides an initial description of an approximate trajectory of a device during a time period, and correction data that indicates a location of the device outside the approximate trajectory of the device within the time period, are received. A modified trajectory data that provides a modified description of a corrected trajectory of the device is generated. In particular, terms to express (i) location constraints that limit deformation of the approximate trajectory of the device and (ii) a modification constraint that limits departure of the corrected trajectory of the device from the location indicated by the correction data are generated, and the initial description of the approximate trajectory of the device is modified using the generated terms. 1. A computer-implemented method for correcting a description of a trajectory of a device , the method comprising:receiving, by one or more processors, initial trajectory data that provides an initial description of an approximate trajectory of the device during a time period;receiving, by the one or more processors, correction data that indicates a location of the device outside the approximate trajectory of the device within the time period; and generating, by the one or more processors, terms to express (i) location constraints that limit deformation of the approximate trajectory of the device and (ii) a modification constraint that limits departure of the corrected trajectory of the device from the location indicated by the correction data, and', 'modifying, by the one or more processors, the initial description of the approximate trajectory of the device using the generated terms., 'generating, by the one or more processors, modified trajectory data that provides a modified description of a corrected trajectory of the device, including2. The method of claim 1 , wherein modifying the initial description of the approximate trajectory using the generated terms includes executing claim 1 , ...

SYSTEMS AND METHODS FOR PORTABLE DEVICE COMMUNICATIONS AND INTERACTION

In accordance with various aspects, a portable device tracking system can comprise a sensor device operatively coupled to a mobile object. The sensor device can comprises a microcontroller, a sensing unit coupled to the microcontroller, the sensing unit comprising a Global Positioning System (GPS) receiver to receive geographical data, and a transceiver coupled to the microcontroller. The portable device tracking system can also comprise a data manager configured to receive the geographical data from the sensor device. The sensor device can transmit data to the data manager across a network using a variety of communication protocols. Further, the portable device tracking system can be used to various applications, such as tracking an asset, a living object, a vehicle, or a medical device. 1. A portable device tracking system comprising: a microcontroller;', 'a sensing unit coupled to the microcontroller, the sensing unit comprising a Global Positioning System (GPS) receiver to receive geographical data;', 'a transceiver coupled to the microcontroller;, 'a sensor device operatively coupled to a mobile object, wherein the sensor device comprisesa data manager configured to receive the geographical data from the sensor device.2. The system of claim 1 , wherein the sensor device further comprises a power source.3. The system of wherein the transceiver is configured to transmit data using one or more of: a Zigbee protocol claim 1 , a Wibree protocol claim 1 , an IEEE 802.11 protocol claim 1 , an IEEE 802.15 protocol claim 1 , an IEEE 802.16 protocol claim 1 , an Ultra-Wideband (UWB) protocol claim 1 , an Infrared Data Association (IrDA) protocol claim 1 , a Bluetooth protocol claim 1 , and combinations thereof.4. The system of claim 1 , wherein the transceiver transmits data to the data manager through a network.5. The system of claim 4 , wherein the network comprises one or more of a local area network (LAN) claim 4 , wide area network (WAN) claim 4 , wireless mobile ...

ADAPTIVE CLUSTERING OF LOCATIONS

Example techniques and systems include generating cluster information to consolidate multiple locations. In one example, a method includes receiving, at a computing device, a plurality of location identifiers corresponding to a plurality of locations at which a mobile computing device was previously located, defining, by the computing device, a plurality of geographic regions based at least in part on the plurality of location identifiers, wherein each of the plurality of geographic regions defines a physical area in which at least one of the plurality of locations is located, selecting, by the computing device, a subset of the plurality of geographic regions based on respective distances between a current location of the mobile computing device and a respective reference point within each of the geographic regions, and outputting, by the computing device and for display, an indication of the subset of the plurality of geographic regions. 1. A method comprising:receiving, at a computing device, a plurality of location identifiers corresponding to a plurality of locations at which a mobile computing device was previously located;defining, by the computing device, a plurality of geographic regions based at least in part on the plurality of location identifiers, wherein each of the plurality of geographic regions defines a physical area in which at least one of the plurality of locations is located;selecting, by the computing device, a subset of the plurality of geographic regions based on respective distances between a current location of the mobile computing device and a respective reference point within each of the geographic regions; andoutputting, by the computing device and for display, an indication of the subset of the plurality of geographic regions.2. The method of claim 1 , further comprising outputting claim 1 , by the computing device and for display claim 1 , at least one of graphical or textual representations of the geographic regions.3. The method of ...

Determining Location and Direction of Travel Using Map Vector Constraints

Systems, methods, and computer program products for determining the location and direction of travel of a mobile device using map vector constraints is disclosed.

Adaptive Mapping with Spatial Summaries of Sensor Data

A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment. 1. A method of mapping parameters acquired by a robotic system in an environment , the method comprising:driving the robotic system in the environment;measuring a first set of parameters that characterize the environment;estimating a current pose of the robotic system;defining a first anchor node representing an estimate of the current pose, wherein the first anchor node is one of a plurality of anchor nodes;generating a first grid associated with the first anchor node, wherein the first grid comprises a map of the first set of measured parameters, wherein the first set of measured parameters are mapped relative to the first pose;after driving a determined period of time, determining an estimate of the current pose of the robotic system;determining an uncertainty between the estimate of the current pose and the first pose; and a) defining a second anchor node representing to the estimate of the current pose of the robotic system; and', 'b) generating a second grid associated with the second anchor node, ...

GPS CORRECTION SYSTEM AND METHOD USING IMAGE RECOGNITION INFORMATION

Provided is a GPS correction system and method which corrects position information obtained from a low-precision GPS device using image recognition information. The GPS correction system using image recognition system includes: a GPS module; an image recognition device having a line recognition function; a road map storage unit configured to store road map information including line characteristic information or a road map receiving unit configured to receive the road map information; and an information processing device configured to compare the line recognition information acquired through the image recognition device to the line characteristic information, correct a current position measured by the GPS module, and calculate traveling lane information. 1. A GPS correction system using image recognition system , comprising:a GPS module;an image recognition device having a line recognition function;a road map storage unit configured to store road map information including line characteristic information or a road map receiving unit configured to receive the road map information; andan information processing device configured to compare the line recognition information acquired through the image recognition device to the line characteristic information, correct a current position measured by the GPS module, and calculate traveling lane information.2. The GPS correction system of claim 1 , wherein the information processing device comprises:an information matching unit configured to match the line recognition information to the line characteristic information and calculate a traveling lane; anda lane change tracing unit configured to calculate the traveling lane by tracing a lane change record of a vehicle in a state where the traveling lane cannot be calculated by the information matching unit.3. The GPS correction system of claim 2 , wherein the information processing device further comprises a lateral position correction unit configured to calculate an offset for a ...

Vehicle locator system

A vehicle locator system comprising: a remote keyless entry transmitter for vehicles (key fob) having a rechargeable battery, a timer, a GPS/RF locator circuit, a first, second and third button and a display window. When the key fob is inserted in the key hole or in the base cradle of the vehicle, the vehicle's main battery charges the rechargeable battery. The first button, when pressed, unlocks the vehicle at the same time it turns on the GPS/RF connection. The second button, when pressed, locks the vehicle and records the location of the vehicle. The timer maintains the GPS/RF circuit on for a predetermined period of time. The third button, when pressed, shows the location of the vehicle almost immediately on the display window of the key fob by showing the address of the location alongwith direction and the distance to the vehicle. 1. A vehicle locator system comprising:a first RF and/or GPS circuitry powered by the main battery of the vehicle and continuously transmitting RF and/or GPS signal that can be traced back in conventional manner to reveal the location of the vehicle; anda remote keyless entry transmitter for vehicles having, a rechargeable battery with a set of contact points for power input, a second RF and/or GPS circuitry, a microprocessor, a timer, a display window, a first button that, when pressed, opens the door of the vehicle at the same time it turns on said second RF and/or GPS circuitry, a second button that, when pressed, locks the doors of the vehicle at the same time it turns on said timer that will turn off said second RF and/or GPS circuitry after a predetermined period of time; a third button that, when pressed, commands said microprocessor to produce a signal to turn on said second RF and/or GPS circuitry at the same time it starts calculating the location of the vehicle in conventional manner using the information from said first RF and/or GPS circuitry and said second RF and/or GPS circuitry and displays it on said display window ...

Position Calculation Method and Position Calculation Apparatus

A position calculation method includes: by using a current position of a mobile object, a link candidate point position, an error variance of positions of a plurality of links included in a region around the current position, and an error variance of azimuths of the plurality of links, calculating, an evaluation value that corresponds to a probability that the mobile object is traveling upon a road corresponding to each link candidate point, for each link including the each link candidate point; and calculating the current position based upon the evaluation value, by taking the mobile object as being positioned at a link candidate point, among a plurality of link candidate points, for which the probability is highest. 1. A position calculation method , comprising:calculating a current position, a shifting speed and an azimuth of movement of a mobile object;calculating an estimated error covariance of the current position and the azimuth of movement based upon the current position, the shifting speed and the azimuth of movement;as a calculation using the current position, the azimuth of movement, the estimated error covariance, a link candidate point position of each link candidate point of a plurality of link candidate points included in a region around the current position, a link candidate point azimuth of the each link candidate point, a first error variance of positions of a plurality of links included in the region, and a second error variance of azimuths of the plurality of links, calculating, based upon a distance between the current position and the link candidate point position and based upon an azimuthal difference between the azimuth of movement and the link candidate point azimuth, by adding together a plurality of data items including the distance and the azimuthal difference obtained at each of predetermined intervals up to the link candidate point position, an evaluation value that corresponds to a probability that the mobile object is traveling upon ...

POSITIONING SYSTEM USING RADIO FREQUENCY SIGNALS

A positioning system and method for determining a position of a machine are disclosed. The system may have an optical sensing device configured to generate determined shape data associated with a portion of the worksite at the position of the machine. The system may have a first signal device configured to transmit a radio frequency signal and receive a response signal. The system may have a second signal configured to receive the transmitted radio frequency signal and transmit the response signal. The system may have a controller in communication with the optical sensing device and at least one of the first and second signal devices. The controller may be configured to determine an approximate position based on the radio frequency signal and the response signal, identify a reference shape data corresponding to the determined shape data, and determine the position based on the approximate position and the reference shape data. 1. A system for determining a position of a machine in a worksite , comprising:an optical sensing device configured to generate determined shape data associated with a portion of the worksite at the position of the machine;a first signal device configured to transmit a radio frequency signal and receive a response signal;a second signal device configured to receive the transmitted radio frequency signal and transmit the response signal in response to receiving the radio frequency signal; and determine an approximate position of the machine based on the radio frequency signal and the response signal,', 'identify at least one reference shape data corresponding to the determined shape data, and', 'determine the position of the machine based on the approximate position and a position in the worksite associated with the at least one reference shape data., 'a controller in communication with the optical sensing device and at least one of the first and second signal devices, the controller configured to2. The system of claim 1 , wherein the optical ...

METHOD AND DEVICE FOR DETERMINING THE POSITION OF A VEHICLE ON A CARRIAGEWAY AND MOTOR VEHICLE HAVING SUCH A DEVICE

A method determines the position of a vehicle on a carriageway, in which method data of a satellite signal sensor, of a digital map, of a line detection sensor and of a vehicle movement dynamic sensor and/or of a surroundings sensor are combined in such a way that the position of the vehicle on the carriageway is determined with at least lane-specific accuracy. In particular, the method can also be used to determine the number of lanes. A device determines the position of the vehicle on a carriageway, and a motor vehicle has such a device. 112-. (canceled)13. A method for finding a position of an automotive vehicle on a carriageway , comprising:finding the position of the vehicle with a first precision using outputs from a satellite signal sensor;obtaining data relating to a first vehicle environment for the position found with the first precision, from a digital map;obtaining data relating to lane markings in a second vehicle environment, with a line recognition sensor;obtaining data relating to proper motion of the vehicle, with a driving dynamics sensor;obtaining data relating to objects in a third vehicle environment, with an ambient sensor, the data relating to objects pertaining to a current carriageway situation; the data relating to the first vehicle environment, obtained from the digital map and', 'the data relating to lane markings in the second vehicle environment with', 'the data relating to proper motion of the vehicle and', 'the data relating to objects in the third vehicle environment;, 'finding the position of the vehicle with at least lane-specific precision on the carriageway, by combiningobtaining data relating to a lane width, from the data relating to lane markings;obtaining data relating to a carriageway width from the data relating to objects; anddetermining and outputting information regarding current number of lanes on the carriageway, from the data relating to the lane width and the data relating to the carriageway width.14. The method ...

Locus correcting method, locus correcting apparatus, and mobile object equipment

Calculating a highly accurate locus is a goal. An administrative part ( 20 ) for correcting a traveling locus of a mobile object (V) is characterized by including an evaluation function generating unit ( 21 ) that sets a plurality of nodes on locus data of the mobile object (V) acquired by a wheel rotation quantity measuring unit ( 16 ), correlates position data of the mobile object (V) acquired by the wheel rotation quantity measuring unit ( 16 ) to the nodes and correlates position data of the mobile object (V) acquired by other units of measurement means than the wheel rotation quantity measuring unit to the nodes, represents positions at which the nodes may occur by probability, represents positions at which position data correlated to the nodes may occur by probability, and calculates an evaluation function including the nodes and the position data as variables, based on each probability; and a locus optimization calculation unit ( 22 ) that calculates a locus on which each node occurs with largest probability, based on the evaluation function.

Assisting A Motor Vehicle Driver In Negotiating A Roundabout

An advanced driver assistance system designed to receive and process motor-vehicle position-related data and motor-vehicle motion-related data of a host motor vehicle and of neighbour motor vehicles detected in the vicinity of the host motor vehicle and which have been determined as entering the same roundabout in which the host motor vehicle will enter, to provide assistance to the driver of the host motor vehicle for negotiating the roundabout. A degree of proximity of the host motor vehicle and the neighbour motor vehicle to the roundabout based on motor-vehicle position-related data is determined and a determined alert level is provided the driver. 1. An advanced driver assistance system to be provided on board a host motor vehicle (HMV) to assist a driver of the host motor vehicle (HMV) in negotiating a roundabout; 'an on-board location device to output motor vehicle position-related data of the host motor vehicle (HMV);', 'the advanced driver assistance system comprises an automotive human-machine interface to provide the driver of the host motor vehicle (HMV) with driving information to assist the driver in approaching and negotiating the roundabout; and', 'an electronic control unit connected to the on-board location device, to the vehicle-to-vehicle communications system and to the automotive human-machine interface via an automotive on-board communication network to:, 'a vehicle-to-vehicle communications system to automatically detect, identify and communicate with vehicle-to-vehicle communications systems within its communications range and arranged on neighbour motor vehicles (NMV) to exchange motor vehicle position-related data and motor vehicle motion-related data;'} determine the neighbour motor vehicles (NMV) that will enter the roundabout based on the motor vehicle position-related data of the host motor vehicle (HMV) and of the neighbour motor vehicles (NMV) and a digital road map, and', 'provide the driver of the host motor vehicle (HMV), via the ...

VEHICLE DRIVE ASSIST SYSTEM, AND DRIVE ASSIST IMPLEMENTATION METHOD

A vehicle drive assist system includes: a position detection device that detects a position of a vehicle; a map data acquisition device that acquires map data; a map matching device that determines the position of the vehicle on a road based on a detected position and the map data; an assist device that assists a driver's operation based on a determined position of the vehicle and a road shape ahead of the vehicle in a traveling direction indicated on the map data; a determination device that determines a possibility that the vehicle travels a wrong way on a road where the traveling direction is fixed to one way; and a cancel device that cancels drive assist when a possibility of reverse run exists. 1. A vehicle drive assist system comprising:a position detection device that detects a position of a vehicle based on a detection signal from at least one of a plurality of vehicular sensors;a map data acquisition device that acquires map data;a map matching device that determines the position of the vehicle on a road by map matching processing based on a detected position detected by the position detection device and the map data;an assist device that assists a driver's operation based on a determined position of the vehicle determined by the map matching device and a road shape ahead of the vehicle in a traveling direction indicated on the map data;a determination device that determines a possibility that the vehicle travels a wrong way on a road where the traveling direction is fixed to one way; anda cancel device that cancels drive assist executed by the assist device when the determination device determines that a possibility of reverse run exists, wherein:the map matching device has a reliability calculation device that estimates reliability of the determined position of the vehicle determined by the map matching device;the assist device performs the drive assist when the reliability is equal to or greater than a threshold value; andthe cancel device forcibly ...

MULTI-LEVEL NAVIGATION MONITORING AND CONTROL

Multi-level navigation monitoring and control is provided. A system includes a lane marking manager determining a first boundary line, a second boundary line, and a centerline of a current lane of travel. The system also includes a confidence level determiner assigning a first confidence level to the first boundary line, a second confidence level to the second boundary line, and a third confidence level to the centerline. Further, the system includes a user interface outputting representations of the first boundary line, the second boundary line, and the centerline based, at least in part, on the first confidence level, the second confidence level, and the third confidence level. 1. A system for multi-level navigation monitoring and control , comprising:a memory; and a navigation manager generating a route between a first location and a second location;', 'a map displayer outputting a map that includes the route and is indicative of distances of one or more surfaces, objects, obstructions, or geometries in an area around the vehicle; and', 'a modification controller altering at least a portion of the route based on an indication of a change received at a user interface or a sensor,', 'wherein the navigation manager regenerates the route between the first location and the second location as a function of the indication of the change and the map displayer outputs a revised map based on the regenerated route., 'a processor that executes the following computer executable components stored in the memory2. The system of claim 1 , wherein the indication of the change is based on a gesture detected by the user interface or the sensor.3. The system of claim 1 , wherein the indication of the change is based on a verbal command detected by the user interface or the sensor.4. The system of claim 1 , comprising a lane marking manager determining lane boundaries and a center steering trajectory of a lane of traffic.5. The system of claim 4 , comprising a confidence level ...

Map information processing apparatus and map information processing method

The present invention has an object to provide a technique capable of appropriately determining whether a vehicle has entered a facility range. A navigation apparatus includes a storage, a position detector, and an entry determining unit. The storage stores map information including a facility range. The position detector detects a position of an own vehicle. The entry determining unit determines that, in a case where the position of the own vehicle detected by the position detector has entered an entry determination range associated with the facility range, the own vehicle has entered the facility range.

ITERATIVE MAP LEARNING BASED ON VEHICLE ON-BOARD SENSOR DATA

Methods, apparatuses, systems, and computer program products are provided. An example method comprises receiving a change trigger; and providing two or more map versions to a plurality of vehicle apparatuses. The map versions may comprise a stable map version and a changed map version. The example method further comprises receiving two or more responses from at least two of the plurality of vehicle apparatuses. A response comprises an indicator of a preferred map version selected by a vehicle apparatus of the plurality of vehicle apparatuses from the two or more map versions. The example method further comprises analyzing the responses to determine a most preferred map version; and when it is determined that the most preferred map version is a changed map version, updating one or more map databases based at least in part on the changed map version. 1. A method comprising:receiving at least one change trigger;providing two or more map versions to a plurality of vehicle apparatuses;receiving two or more responses from at least two of the plurality of vehicle apparatuses, a response of the two or more responses comprising an indicator of a preferred map version, the preferred map version selected by a vehicle apparatus of the plurality of vehicle apparatuses from the two or more map versions;analyzing the responses to determine a most preferred map version; andwhen it is determined that the most preferred map version is a changed map version, updating a map database based at least in part on the changed map version.2. A method according to claim 1 , wherein a vehicle apparatus of the plurality of vehicle apparatuses determines a preferred map version based at least in part on data collected by one or more sensors on-board a vehicle.3. A method according to further comprising:in response to analyzing the responses, generating a second changed map version;providing a second two or more map versions to a second plurality of vehicle apparatuses, the second two or more map ...

NAVIGATION DEVICE AND METHOD OF CONTROLLING THE SAME

A navigation device for a vehicle including a display unit, and a processor configured to determine a location of the navigation device, detect an object loaded into the vehicle by wirelessly communicating with the object, identify the detected object based on attribute information of the detected object, save a destination history of the identified object including destination information of the vehicle having the loaded identified object, and display at least one recommended destination on the display unit based on the destination history of the object in response to the identified object again being loaded into the vehicle after the destination history has been saved. 1. A navigation device for a vehicle , comprising:a display unit; anda processor configured to:determine a location of the navigation device,detect an object loaded into the vehicle by wirelessly communicating with the object,identify the detected object based on attribute information of the detected object,save a destination history of the identified object including destination information of the vehicle having the loaded identified object, anddisplay at least one recommended destination on the display unit based on the destination history of the object in response to the identified object again being loaded into the vehicle after the destination history has been saved.2. The navigation device of claim 1 , wherein the processor is further configured to classify the at least one recommended destination based on a visit frequency of destinations in the destination history of the identified object.3. The navigation device of claim 2 , wherein the processor is further configured to set the destination of the vehicle to the destination having a highest visit frequency among the destinations in the destination history of the identified object.4. The navigation device of claim 1 , wherein the processor is further configured to classify the at least one recommended destination based on last visit dates of ...

METHOD FOR OPERATING A MANEUVERING ASSISTANCE SYSTEM

The invention relates to a method for operating a maneuvering assistance system of a motor vehicle, having the steps of: reading in surroundings data of the motor vehicle representative of maneuvering spaces along a traveled stretch of road having a predetermined length, evaluating the read-in surroundings data in order to determine at least one suitable maneuvering space, and adding the maneuvering space to a map data record representative of the traveled stretch of road. 116-. (canceled)17. A method for operating a motor vehicle , comprising:receiving surroundings data representing maneuvering spaces along a traveled stretch of road having a predetermined length;evaluating the surroundings data to determine at least one suitable-for-maneuvering maneuvering space from the maneuvering spaces, andadding the suitable-for-maneuvering maneuvering space to map data that represents the traveled stretch of road.18. The method of claim 17 , wherein the map data is presented via an HMI in the motor vehicle.19. The method of claim 17 , wherein a route of travel starting from a present position of the motor vehicle is determined by including the suitable-for-maneuvering maneuvering space.20. The method of claim 19 , wherein the route of travel can be modified by a driver of the motor vehicle.21. The method of claim 17 , wherein a plurality of suitable-for-maneuvering maneuvering spaces are determined claim 17 , and at least one of the plurality of suitable-for-maneuvering maneuvering spaces is selected according to at least one predetermined criterion.22. The method of claim 17 , wherein the map data is reproduced in the form of a 360° panoramic view.23. The method of claim 17 , wherein the map data is reproduced in a perspective representation.24. A maneuvering assistance system for a motor vehicle claim 17 , configured to:receiving surroundings data representing maneuvering spaces along a traveled stretch of road having a predetermined length;evaluating the surroundings data ...

SELF-LOCALIZATION ESTIMATION DEVICE

A self-localization estimation device includes: a map-information acquisition unit that acquires map information including lane information for specifying lanes in which vehicles are enabled to travel; a position calculation unit that calculates an own-vehicle absolute position being an absolute position of an own vehicle in response to navigation signals received from a plurality of navigation satellites, the position calculation unit including a self-location measurement unit, a vehicle-momentum measurement unit, and dead reckoning unit; and a position estimation unit that estimates, based on the map information and the own-vehicle absolute position, a corrected own-vehicle position being a corrected position of the own vehicle. The position estimation unit estimates the corrected own-vehicle position by superimposing a reliability of the map information and a reliability of the own-vehicle absolute position on each other. 1. A self-localization estimation device comprising:a map-information acquisition unit that acquires map information including lane information for specifying lanes in which vehicles are enabled to travel;a position calculation unit that calculates an own-vehicle absolute position being an absolute position of an own vehicle; anda position estimation unit that estimates, based on the map information and the own-vehicle absolute position, a corrected own-vehicle position being a corrected position of the own vehicle,wherein:the position estimation unit estimates the corrected own-vehicle position by superimposing a reliability of the map information and a reliability of the own-vehicle absolute position on each other.2. The self-localization estimation device according to claim 1 , wherein vary at least one of the reliability of the map information and the reliability of the own-vehicle absolute position to thereby change relative weights assigned to the respective map information and own-vehicle absolute position; and', 'estimate the corrected ...

Self-localization estimation device

A self-localization estimation unit of a self-localization estimation device determines, based on mutual relationships between the in-lane position and the absolute position including the error, whether there is lane-relevant candidate information, the lane-relevant candidate information representing that one or more in-vehicle positions are each estimated to be in which of lanes identified by the lane information; and estimates, based on a result of the determination of whether there is lane-relevant candidate information, a localization of the own vehicle corresponding to the map information.

TOP-DOWN REFINEMENT IN LANE MARKING NAVIGATION

Systems and methods use cameras to provide autonomous navigation features. In one implementation, top-down refinement in lane marking navigation is provided. The system may include one or more memories storing instructions and one or more processors configured to execute the instructions to cause the system to receive from one or more cameras one or more images of a roadway in a vicinity of a vehicle, the roadway comprising a lane marking comprising a dashed line, update a model of the lane marking based on odometry of the one or more cameras relative to the roadway, refine the updated model of the lane marking based on an appearance of dashes derived from the received one or more images and a spacing between dashes derived from the received one or more images, and cause one or more navigational responses in the vehicle based on the refinement of the updated model. 1one or more memories storing instructions, and receive from one or more cameras one or more images of a roadway in a vicinity of a vehicle, the roadway comprising a lane marking comprising a dashed line,', 'update a model of the lane marking based on odometry of the one or more cameras relative to the roadway,', 'refine the updated model of the lane marking based on an appearance of dashes derived from the received one or more images and a spacing between dashes derived from the received one or more images, and', 'cause one or more navigational responses in the vehicle based on the refinement of the updated model., 'one or more processors configured to execute the instructions to cause the system to. A computer system comprising: This application claims the benefit of U.S. Provisional Patent Application No. 62/010,003, filed Jun. 10, 2014, and U.S. Provisional Patent Application No. 62/173,216, filed Jun. 9, 2015, the entireties of which are incorporated herein by reference.This relates generally to autonomous driving and/or driver assist technology and, more specifically, to systems and methods that use ...

Map information comparing and auxiliary positioning system and method thereof

A map information comparing and auxiliary positioning system set on a mobile platform includes an original map establishing module, a real-time map establishing module, a comparing module and a positioning module. The original map establishing module is utilized to establish an original map information marked with a plurality of original coordinates of a plurality of original feature objects. The real-time map establishing module is utilized to establish a real-time map information marked with a plurality of real-time coordinates of a plurality of real-time feature objects. The comparing module is utilized to compare the plurality of real-time coordinates with the plurality of original coordinates, and further to define the same coordinates as at least one valid reference coordinate. The positioning module is utilized to auxiliary position the mobile platform by using the at least one valid reference coordinate. In addition, a map information comparing and auxiliary positioning method is provided.

DETERMINING LOCALIZATION CONFIDENCE OF VEHICLES BASED ON CONVERGENCE RANGES

According to an aspect of an embodiment, operations may comprise for each of the set of geographic X-positions, accessing an HD map of a geographical region surrounding the geographic X-position, determining a convergence range for the geographic X-position, and storing the convergence range for the geographic X-position in the HD map. The operations may also comprise accessing the HD map, predicting a next geographic X-position of a target vehicle, predicting a covariance of the predicted next geographic X-position, accessing the convergence range for the geographic X-position in the HD map closest to the predicted next geographic X-position, estimating a current geographic X-position of the target vehicle by performing a localization algorithm, and determining a confidence value for the estimated current geographic X-position of the target vehicle based on the predicted next geographic X-position, the predicted covariance, and the accessed convergence range. 1. A computer-implemented method , comprising:accessing a set of geographic X-positions of one or more vehicles; accessing a high definition (HD) map of a geographical region surrounding the geographic X-position, the HD map comprising a three-dimensional (3D) representation of the geographical region,', 'determining a convergence range for the geographic X-position, and', 'storing the convergence range for the geographic X-position in the HD map;, 'for each of the set of geographic X-positionsaccessing the HD map;predicting a next geographic X-position of a target vehicle;predicting a covariance of the predicted next geographic X-position;accessing the convergence range for the geographic X-position in the HD map closest to the predicted next geographic X-position;estimating a current geographic X-position of the target vehicle by performing a localization algorithm; anddetermining a confidence value for the estimated current geographic X-position of the target vehicle based on the predicted next geographic X ...

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.

SUBMAP GEOGRAPHIC PROJECTIONS

A method includes obtaining map data associated with a map of a geographic location including one or more roadways, the map including a first submap represented by a first local Euclidean space and a second submap represented by a second local Euclidean space. A route that includes a first roadway in the first submap and a second roadway in the second submap is determined using a first projection between a global coordinate system and the first local Euclidean space and a second projection between the global coordinate system and the second local Euclidean space. The route is provided to an autonomous vehicle (AV) for driving on the first roadway and the second roadway. 120-. (canceled)21. A method comprising:obtaining, with a computer system comprising one or more processors, map data associated with a map of a geographic location including one or more roadways, the map comprising a first submap and a second submap;determining, with the computer system, a route that includes a first roadway in the first submap and a second roadway in the second submap, the determining using a first projection between a global coordinate system and a first coordinate frame of the first submap and also using a second projection between the global coordinate system and a second coordinate frame of the second submap, the first projection centered at a first point in the global coordinate system and transforming global coordinates in the global coordinate system to local coordinates in the first coordinate frame of the first submap, the second projection centered at a second point in the global coordinate system that is different than the first point and transforming the global coordinates in the global coordinate system to local coordinates in the second coordinate frame of the second submap; andproviding, with the computer system, the route to an autonomous vehicle (AV) for driving on the first roadway and the second roadway.22. The method of claim 21 , wherein the route includes a ...

System for Generating Confidence Values in Digital Road Maps

A system for generating confidence values for objects in a digital road map comprising a backend and an object recognition device including: a capture unit, an evaluation unit, a positioning unit, and a transceiver. The capture unit captures surroundings data of a vehicle. The positioning unit determines a position of the captured surroundings data and objects contained therein. The evaluation unit recognizes the objects and concealed objects based on the surroundings data and associates them with position information. The transceiver transmits information generated by the evaluation unit to the backend. The backend generates or updates the map. Each of the objects in the map has an associated confidence value. The backend adjusts the confidence values based on the received data. The backend does not reduce the confidence value of an object if there is a corresponding concealed object in the received data.

Methods and Systems for Generating and Using Localization Reference Data

Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map. 1. A method of determining a position of a vehicle relative to a digital map , the digital map comprising data representative of navigable elements of a navigable network along which the vehicle is travelling , the method comprising:obtaining localisation reference data associated with the digital map for a deemed current position of the vehicle along a navigable element of the navigable network, wherein the location reference data comprises at least one depth map indicative of an environment around the vehicle projected on to a reference plane, the reference plane being defined by a reference line associated with the navigable element, each pixel of the at least one depth map being associated with a position in the reference plane associated with the navigable element along which the vehicle is travelling, and the pixel including a depth channel representing the distance to a surface of an object in the environment along a predetermined direction from the associated position of the pixel in the reference plane;using the localisation reference data to determine a reference point cloud indicative of the environment around the vehicle, the reference point cloud including a set of first data points in a three-dimensional coordinate system, wherein each first data point represents a surface of an object in the environment;determining real time scan data by scanning the environment around the vehicle using at least one sensor, the real time scan data comprising a point cloud indicative of the environment around the vehicle, the point cloud including a set of second data points in the three ...

METHOD AND SYSTEM FOR UPDATING MAPS BASED ON CONTROL FEEDBACKS OF AUTONOMOUS DRIVING VEHICLES

In one embodiment, when an ADV is driving on a road segment, a driving parameter is recorded in response to a first control command. A difference between the first driving parameter and a target driving parameter corresponding to the first control command is determined. In response to determining that the difference exceeds a predetermined threshold, a second control command is issued to compensate the difference and cause the ADV to drive with a second driving parameter closer to the target driving parameter. A slope status of the road segment is derived based on at least the second control command. Map data of a map corresponding to the road segment of the road is updated based on the derived slope status. The updated map can be utilized to generate and issue proper control commands in view of the slope status of the road when the ADV drives on the same road subsequently. 1. A computer-implemented method for updating maps for autonomous driving , the method comprising:recording a first driving parameter of an autonomous driving vehicle (ADV) driving on a segment of a road in response to a first control command;determining a difference between the first driving parameter and a target driving parameter corresponding to the first control command;issuing a second control command to compensate and cause the ADV to drive with a second driving parameter closer to the target driving parameter, in response to determining that the difference exceeds a predetermined threshold;deriving a slope status of the segment of the road based on at least the second control command; andupdating map data of a map corresponding to the segment of the road based on the derived slope status.2. The method of claim 1 , wherein deriving a slope status of the segment of the road comprises:performing a lookup operation in a slope to command (slope/command) mapping table to search and locate a mapping entry that approximately matches the second control command and the target driving parameter; ...

METHOD AND SYSTEM FOR EVOLVING A CONTEXT COGNITIVE CARTOGRAPHIC GRID FOR A MAP

Disclosed are systems () and () and a method () of evolution of a cartographic grid using map information. More specifically the evolution of context cognitive cartographic grid uses context cognitive data and historical data. For an identified reference geolocation on the map, various routes emanating from the reference geolocation are identified and then using pre-defined context parameters, a second geolocation is selected or updated. The process is repeated until all the possible routes associated with the identified reference geo-location are traversed. Subsequently, a convex grid is created using all the geolocations found, to evolve the context cognitive cartographic grid. 1100102100. A system () for evolving a context cognitive cartographic grid for a map () , the system () comprising:{'b': 102', '104', '102, 'the map () and a geocoding parameter system () storing a geocoding parameter associated with the map ();'}{'b': 106', '102, 'a reference geolocation system () storing a reference geolocation associated with the map ();'}{'b': 108', '108', '104, 'a context parameters system () that stores a plurality of predefined context parameters, wherein the context parameters system () is associated with the geocoding parameter system ();'}{'b': 110', '102', '102, 'an intelligent computing system () for iteratively traversing routes within the map (), wherein the routes are valid paths, until all feasible routes are used, routes originating from the reference geolocation, to evolve a plurality of second geolocations within the map () using the plurality of predefined context parameters and the geocoding parameter;'}{'b': '112', 'a convex grid system () that sores and uses the evolved plurality of second geolocations along with the reference geolocation; and'}{'b': 114', '112', '102', '102, 'a context cognitive cartographic grid system () that uses the convex grid obtained in the convex grid system () and the map() to evolve the context cognitive cartographic grid ...

LANE-CENTRIC ROAD NETWORK MODEL FOR NAVIGATION

A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface. 1. An apparatus comprising: a plurality of lane records, wherein each lane record corresponds to a drivable surface of a particular lane of the road network, and', 'a plurality of open drivable surface records, wherein each open drivable surface record corresponds to a drivable surface of a particular open drivable surface of the road network, wherein the particular open drivable surface is a portion of a surface of the road network where a lane-level topology of the road network changes; and, 'a plurality of data records corresponding to drivable surfaces of a road network, the plurality of data records comprising, 'at least one memory, the at least one memory storing a geographic database storing map data, the geographic database comprising access one or more data records of the plurality of data records, the one or more data records comprising at least one open drivable surface record of the plurality of open drivable surface records; and', 'based on information stored in the one or more data records, perform a navigation function., 'at least one processor, ...

Using high definition maps for generating synthetic sensor data for autonomous vehicles

According to an aspect of an embodiment, operations may comprise accessing high definition (HD) map data of a region, presenting, via a user interface, information describing the HD map data, receiving instructions, via the user interface, for modifying the HD map data by adding one or more synthetic objects to locations in the HD map data, modifying the HD map data based on the received instructions, and generating a synthetic track in the modified HD map data comprising, for each of one or more vehicle poses, generated synthetic sensor data based on the one or more synthetic objects in the modified HD map data.

GENERATING TRAINING DATA FOR DEEP LEARNING MODELS FOR BUILDING HIGH DEFINITION MAPS

According to an aspect of an embodiment, operations may comprise receiving sensor data from one or more vehicles, determining, by combining the received sensor data, a high definition map comprising a point cloud, and labeling one or more objects in the point cloud. The operations may also comprise generating training data by receiving a new image captured by one of the vehicles, receiving a pose of the vehicle when the new image was captured, determining an object having a label in the point cloud that is observable from the pose of the vehicle, determining a position of the object in the new image, and labeling the new image by assigning the label of the object to the new image, the labeled new image comprising the training data. The operations may also comprise training a deep learning model using the training data. 1. A computer-implemented method , comprising:receiving sensor data from one or more vehicles;determining, by combining the received sensor data, a high definition map comprising a point cloud;labeling one or more objects in the point cloud, each of the one or more objects represented as a set of points from the point cloud; receiving a new image captured by one of the vehicles,', 'receiving a pose of the vehicle when the new image was captured,', 'determining an object in the point cloud that is observable from the pose of the vehicle, the object having a label,', 'determining a position of the object in the new image, and', 'labeling the new image by assigning the label of the object to the new image; the labeled new image comprising the training data; and, 'generating training data bytraining a deep learning model using the training data.2. The computer-implemented method of claim 1 , wherein the labeling of the one or more objects comprises:receiving an image;labeling an object in the image by recognizing the object using a trained deep learning model;identifying the set of points in the point cloud corresponding to the object; andlabeling the set ...

POSITIONING TECHNOLOGY

This application provides a positioning solution, wherein the solution includes: determining first feature information and semantic category information of a first road-related element in an image, wherein the image is taken by a mobile device in a moving process; determining second feature information of a second road-related element whose semantic category information is identical to the semantic category information in a high-definition map; and positioning the mobile device based on a matching result of the first feature information and the second feature information. 1. A positioning method , comprising:determining first feature information and semantic category information of a first road-related element in an image, wherein the image is taken by a mobile device in a moving process;determining second feature information of a second road-related element whose semantic category information is identical to the semantic category information in a high-definition map; andpositioning the mobile device based on a matching result of the first feature information and the second feature information.2. The method according to claim 1 , wherein the determining the second feature information of the second road-related element whose semantic category information is identical to the semantic category information in the high-definition map comprises:determining a first geographical position of the mobile device when taking the image based on a positioning system of the mobile device;determining the second road-related element whose semantic category information is identical to the semantic category information within a set range from the first geographical position in a vector semantic information layer of the high-definition map; anddetermining the second feature information of the second road-related element in the high-definition map.3. The method according to claim 1 , wherein the determining the second feature information of the second road-related element whose semantic ...

Systems and Methods for Map Matching

A method for determining a map matching confidence includes detecting a trajectory; detecting network data containing a plurality of links of a network; detecting one or more data pairs, each of said one or more data pairs including a link from the plurality of links and a time window that captures at least one portion of the trajectory; determining, for each of the one or more data pairs, a map matching confidence for the link of the relevant data pair based on: determining a maximum a posteriori probability; or determining by using a modified forward algorithm, wherein the map matching confidence is designed to indicate a probability that the relevant link has been affected by the trajectory within the relevant time window. 111.-. (canceled)12. A method for determining a map matching confidence , the method comprising:capturing a trajectory;capturing network data comprising a plurality of links of a network; a link from the plurality of links; and', 'a time window which captures at least a part of the trajectory; and, 'capturing one or more data pairs, wherein each data pair of the one or more data pairs comprises determining a maximum a posteriori probability; or', 'using a modified forward algorithm, wherein the map matching confidence is configured to specify a probability that the trajectory was tangent to the respective link within the respective time window., 'determining, for each data pair of the one or more data pairs, a map matching confidence for the link of the respective data pair by13. The method according to claim 12 , wherein the trajectory contains a plurality of position specifications claim 12 , and each position specification of the plurality of position specifications comprises: a GPS position and a timestamp.14. The method according to claim 13 , further comprising determining:one or more matching candidates for each position specification;an observation probability for each of the one or more matching candidates of each position ...

TRAVEL ROAD SHAPE RECOGNITION APPARATUS AND TRAVEL ROAD SHAPE RECOGNITION METHOD

In a travel road shape recognition apparatus, a first travel road shape, which approximates a shape of a road boundary, is calculated based on feature points indicating the travel road boundary in a captured image. A worsening position, which is a position on the calculated first travel road shape at which a degree of coincidence with the feature points worsens, is detected over an area from near to far from an own vehicle. A second travel road shape, which approximates a shape of the road boundary in an area farther from the own vehicle, beyond the worsening position, is calculated. The road boundary in the area nearer to the own vehicle, up to the worsening position, is recognized from the first travel road shape. The road boundary in the area farther from the own vehicle, beyond the worsening position, is recognized from the second travel road shape. 1. A travel road shape recognition apparatus comprising:an image acquiring unit that acquires a captured image of an area ahead of an own vehicle in an advancing direction of the own vehicle, from an imaging means;a first shape calculating unit that calculates a first travel road shape approximating a shape of a travel road boundary based on a plurality of feature points indicating the travel road boundary in the captured image;a position detecting unit that detects a worsening position over an area from near to far from the own vehicle in the captured image, the worsening position being a position on the first travel road shape at which a degree of coincidence with the feature points worsens;a second shape calculating unit that calculates a second travel road shape approximating the shape of the travel road boundary in an area farther from the own vehicle, beyond the worsening position, in the captured image, when the worsening position is detected; anda recognizing unit that recognizes the travel road boundary in the area nearer to the own vehicle, up to the worsening position, from the first travel road shape, and ...

METHOD FOR LOCALIZING A MORE AUTOMATED, E. G., HIGHLY AUTOMATED VEHICLE (HAV) IN A DIGITAL LOCALIZATION MAP

A method is described for localizing a highly automated vehicle (HAV) in a digital localization map, including the following steps: S sensing features of semi-static objects in an environment of the HAV with the aid of at least one first sensor; S transmitting the features of the semi-static objects as well as the vehicle position to an evaluation unit; S classifying the semi-static objects, the feature “semi-static” being assigned to the semi-static objects as a result of the classification; S transferring the features of the semi-static objects into a local driving-environment model of the HAV, when creating the local driving-environment model, it being checked whether landmarks suitable for localizing the HAV are hidden by the semi-static objects in terms of the position and/or an approach trajectory of the HAV; S transmitting the local driving-environment model to the HAV in the form of a digital localization map, the digital localization map containing only those landmarks suitable for localizing the HAV which are not hidden by semi-static objects in terms of the position and/or an approach trajectory of the HAV; and S localizing the HAV using the digital localization map. In addition, a corresponding system and computer program are described. 110.-. (canceled)11. A method for localizing a highly automated vehicle (HAV) in a digital localization map , comprising:sensing features of semi-static objects in an environment of the HAV with the aid of at least one first sensor;transmitting the features of the semi-static objects and a vehicle position to an evaluation unit;classifying the semi-static objects, wherein a feature “semi-static” is assigned to the semi-static objects as a result of the classification;transferring the features of the semi-static objects into a local driving-environment model of the HAV, in creating the local driving-environment model, and checking whether landmarks suitable for localizing the HAV are hidden by the semi-static objects in ...

ASSESSING VISIBILITY OF A TARGET OBJECT WITH AUTONOMOUS VEHICLE FLEET

A system uses a fleet of AVs to assess visibility of target objects. Each AV has a camera for capturing images of target objects. AVs provide the captured images, or visibility data derived from the captured images, to a remote system, which aggregates visibility data describing images captured across the fleet of AVs. The AVs also provide condition data describing conditions under which the images were captured, and the remote system aggregates the condition data. The remote system processes the aggregated visibility data and condition data to determine conditions under which a target object does not meet a visibility threshold. 1. A method for identifying a location for a target object , the method comprising:capturing, by a camera mounted to an autonomous vehicle (AV), a plurality of images, each of the plurality of images having a field of view comprising a potential location for a target object, the plurality of images captured over a period of time;determining whether the potential location for the target object is visible in one of the plurality of images;in response to determining that the potential location for the target object is visible in one of the plurality of images, determining, based on the plurality of images, a duration of time during which the potential location is visible; andin response to determining that the potential location is visible for at least a threshold period of time, transmitting the potential location for the target object to a remote system.2. The method of claim 1 , further comprising:identifying a potential location for a target object based on map data stored on the AV, the map data including locations and sizes of buildings in an environment of the AV.3. The method of claim 2 , wherein the map data further includes data describing positions of windows and doors on at least a portion of the buildings in the environment of the AV claim 2 , and the potential location comprises a portion of a building without a window or door.4. ...

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 ...

HYBRID ROAD NETWORK AND GRID BASED SPATIAL-TEMPORAL INDEXING UNDER MISSING ROAD LINKS

Embodiments of the present invention provide efficient and dynamic systems and methods for building a hybrid road network and grid based spatial temporal index to handle big trajectory data. Embodiments of the present invention can be used to satisfy the issue of low indexing and compression rate of big trajectory data, and to improve the efficiency of index queries, while also providing a mechanism to account for missing road links in a map. 1from a set of received trajectory points, determining, by one or more computer processors, whether each received trajectory point from the set of received trajectory points is associated with a road link of a map, wherein data associated with the set of received trajectory points comprises: a moving object identification, a timestamp of a moving object, a longitude coordinate and a latitude coordinate of the data, a spatial cell identification, and a distance;building, by one or more processors, from the set of received trajectory points, a hybrid index, wherein the hybrid index comprises spatial cells, and wherein the spatial cells comprise a road link or a grid cell, wherein the grid cell represents a missing road link of the map;creating one or more bundled spatial cell by combining, by one or more processors, at least one grid cell to form a bundled grid cell and more than one road links to form a bundled road link, wherein a size of the hybrid index data is less than a size of the set of received trajectory points, and wherein an equivalent trajectory density is represented in each bundled spatial cell;forming a trajectory segment with identification based on the one or more bundled spatial cells;responsive to building the hybrid index, inputting, by one or more processors, a set of information into a trajectory hybrid indexing module, wherein the set of information comprises: moving object (MO) identification, a spatial cell identification, a start time, an end time, and a determined trajectory segment identification; ...

MAP CREATION SYSTEM AND MAP CREATING METHOD

An object of the present invention is to provide a map creation system and a map creating method capable of accurately creating road data on map data used for estimating a road being travelled by a vehicle. A map creation system includes a trajectory data creation unit creating trajectory data of a vehicle travelling in a predetermined area on a first road on the basis of positional information of the vehicle, a representative point extraction unit extracting, of created plural pieces of the trajectory data, representative points located on a side of a second road different from the first road, and a road data creation unit creating data for the first road on map data on the basis of the plural representative points extracted for respective plural predetermined areas. 1. A map creation system comprising:a trajectory data creation unit creating trajectory data of a vehicle travelling in a predetermined area on a first road on the basis of positional information of the vehicle;a representative point extraction unit extracting, of created plural pieces of the trajectory data, representative points located on a side of a second road different from the first road; anda road data creation unit creating data for the first road on map data on the basis of the plural representative points extracted for respective plural predetermined areas.2. The map creation system according to claim 1 , wherein the representative points are extracted on the basis of a frequency distribution of the plural pieces of trajectory data in the predetermined area.3. The map creation system according to claim 2 , wherein the representative points are extracted on the basis of whether or not the vehicle travelling on the first road is charged for a fee and whether or not the vehicle travelling on the second road is charged for a fee.4. The map creation system according to claim 1 , wherein the second road is parallel to the first road or intersects with the first road.5. A map creating method ...

WALKING ROUTE DETERMINATION UNIT, METHOD, AND PROGRAM

To accurately determine walking routes with roadways interposed therebetween. An environmental value calculation unit () calculates, based on a plurality of satellite signals from a plurality of satellites received by a positioning apparatus held by a pedestrian of object, an environmental value indicating whether a reception environment of a satellite signal of the plurality of satellite signals is good or bad for a left half side and a right half side with reference to a traveling direction of the pedestrian, and a route determination unit () compares an environmental value of the left half side calculated by the environmental value calculation unit () with an environmental value of the right half side calculated by the environmental value calculation unit () to determine a walking route of the pedestrian. 1. A walking route determination apparatus comprising:an environmental value determiner configured to determine, based on a plurality of satellite signals from a plurality of satellites received by a positioning apparatus held by a pedestrian of object, an environmental value indicating whether a reception environment of a satellite signal of the plurality of satellite signals is good or bad for a left half side and a right half side with reference to a traveling direction of the pedestrian; anda route determiner configured to compare an environmental value of the left half side determined by the environmental value determiner with an environmental value of the right half side determined by the environmental value determiner to determine a walking route of the pedestrian.2. The walking route determination apparatus according to claim 1 , wherein the environmental value determiner determines the environmental value using a value indicating an amount of arrival of the satellite signal.3. The walking route determination apparatus according to claim 1 , wherein the environmental value determiner determines the environmental value using a value indicating whether a ...

SUPER LANDMARKS AS NAVIGATION AIDS

Systems and methods are provided for autonomously navigating a vehicle along a road segment. In one implementation, a system includes at least one processor programmed to receive from a camera at least one image representative of an environment of the vehicle. The at least one image may be analyzed to identify at least one recognized landmark based upon one or more landmark group characteristics associated with a group of recognized landmarks. The current location of the vehicle relative to a predetermined road model trajectory associated with the road segment may be determined based, at least in part, on a predetermined location of the recognized landmark. An autonomous steering action for the vehicle may be determined 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. 128-. (canceled)29. A system for autonomously navigating a vehicle along a road segment , the system comprising: receive from a camera at least one image representative of an environment of the vehicle;', 'analyze the at least one image to identify at least one recognized landmark, wherein the at least one recognized landmark is part of a group of recognized landmarks, and identification of the at least one recognized landmark is based, at least in part, upon one or more landmark group characteristics associated with the group of recognized landmarks;', '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; and', '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., 'at least one processor programmed to30. The system of claim 29 , wherein the at least one recognized ...

NAVIGATION BASED ON EXPECTED LANDMARK LOCATION

A system for autonomously navigating a vehicle along a road segment may be based on a predetermined landmark location. The system may include at least one processor programmed to receive from a camera, at least one image representative of an environment of the vehicle, and determine a position of the vehicle along a predetermined road model trajectory associated with the road segment based, at least in part, on information associated with the at least one image. The at least one processor may be further programmed to identify a recognized landmark forward of the vehicle based on the determined position, wherein the recognized landmark is beyond a sight range of the camera, and determine a current distance between the vehicle and the recognized landmark by comparing the determined position of the vehicle with a predetermined position of the recognized landmark. The at least one processor may also be programmed to determine an autonomous navigational response for the vehicle based on the determined current distance. 128-. (canceled)29. A system for autonomously navigating a vehicle along a road segment based on a predetermined landmark location , the system comprising:at least one processor programmed to:receive from a camera, at least one image representative of an environment of the vehicle;determine a position of the vehicle along a predetermined road model trajectory associated with the road segment based, at least in part, on information associated with the at least one image;identify a recognized landmark forward of the vehicle based on the determined position, wherein the recognized landmark is beyond a sight range of the camera;determine a current distance between the vehicle and the recognized landmark by comparing the determined position of the vehicle with a predetermined position of the recognized landmark; anddetermine an autonomous navigational response for the vehicle based on the determined current distance.30. The system of claim 29 , wherein the ...

FORWARD NAVIGATION BASED ON REARWARD FACING CAMERA

A system for autonomously navigating a vehicle is disclosed. The system may include at least one processor and the at least one processor may be programmed to receive from a rearward facing camera, at least one image representing an area at a rear of the vehicle and analyze the at least one rearward facing image to locate in the image a representation of at least one landmark. The at least one processor may be further programmed to determine at least one indicator of position of the landmark relative to the vehicle and determine a forward trajectory for the vehicle based, at least in part, upon the indicator of position of the landmark relative to the vehicle. Additionally, the at least one processor may be programmed to cause the vehicle to navigate along the determined forward trajectory. 128-. (canceled)29. A system for autonomously navigating a vehicle , the system comprising: receive from a rearward facing camera, at least one image representing an area at a rear of the vehicle;', 'analyze the at least one rearward facing image to locate in the image a representation of at least one landmark;', 'determine at least one indicator of position of the landmark relative to the vehicle;', 'determine a forward trajectory for the vehicle based, at least in part, upon the indicator of position of the landmark relative to the vehicle; and', 'cause the vehicle to navigate along the determined forward trajectory., 'at least one processor programmed to30. The system of claim 29 , wherein the indicator of position includes a distance between the vehicle and the landmark.31. The system of claim 29 , wherein the indicator of position includes a relative angle between the vehicle and the landmark.32. The system of claim 29 , wherein the landmark includes a road edge claim 29 , a lane marking claim 29 , a reflector claim 29 , a pole claim 29 , a change in line pattern on a road claim 29 , or a road sign.33. The system of claim 29 , wherein the landmark includes a backside of a ...

ADAPTIVE NAVIGATION BASED ON USER INTERVENTION

Systems and methods are provided for autonomous navigation based on user intervention. In one implementation, a navigation system for a vehicle may include least one processor. The at least one processor may be programmed to receive from a camera, at least one environmental image associated with the vehicle, determine a navigational maneuver for the vehicle based on analysis of the at least one environmental image, cause the vehicle to initiate the navigational maneuver, receive a user input associated with a user's navigational response different from the initiated navigational maneuver, determine navigational situation information relating to the vehicle based on the received user input, and store the navigational situation information in association with information relating to the user input. 128.-. (canceled)29. A navigation system for a vehicle , the system comprising: receive from a camera, at least one environmental image associated with the vehicle;', 'determine a navigational maneuver for the vehicle based on analysis of the at least one environmental image;', 'cause the vehicle to initiate the navigational maneuver;', "receive a user input, associated with a user's navigational response different from the initiated navigational maneuver;", 'determine navigational situation information relating to the vehicle based on the received user input; and', 'store the navigational situation information in association with information relating to the user input., 'at least one processor programmed to30. The system of claim 29 , wherein the navigational maneuver is based on a recognized landmark identified in the at least one environmental image.31. The system of claim 29 , wherein the information relating to the user input includes information specifying at least one of a degree of a turn of the vehicle claim 29 , an amount of an acceleration of the vehicle claim 29 , and an amount of braking of the vehicle.32. The system of claim 29 , wherein the control system ...

ROUTE SEARCH APPARATUS, ROUTE SEARCH METHOD, COMPUTER PROGRAM AND DATA STRUCTURE

A route search apparatus comprises a road information storage part configured to store road information including link information comprised of single link information and composite link information; and a route searcher configured to search a recommended route between two different points using the link information. The single link information includes information regarding an approach link that is a link approaching to a node at one end of a target link, an exit link that is a link exiting from a node at the other end of the target link, and a cost of the target link for entering from the approach link and exiting to the exit link. The composite link information includes information regarding an approach link that is a link approaching to a node at one end of a target link array, an exit link that is a link exiting from a node at the other end of the target link array, and a cost of the target link array for entering from the approach link and exiting to the exit link. 1. A route search apparatus , comprising:a road information storage part configured to store road information including network data that includes nodes and links representing a road network, and link information comprised of single link information that is information related to a target link corresponding to one link and composite link information that is information related to a target link array corresponding to a plurality of links arranged across at least one node; anda route searcher configured to extend a search tree through the nodes and the links based on the road information, provide a node of interest ahead of the search tree with a cumulative cost to the node of interest, and fix a cumulative cost that satisfies a predetermined condition among the cumulative costs provided to the node of interest, so as to search a recommended route between two different points, whereinthe single link information includes information regarding an approach link that is a link approaching to a node at one ...

Vehicle Radar Perception And Localization

The disclosure relates to methods, systems, and apparatuses for autonomous driving vehicles or driving assistance systems and more particularly relates to vehicle radar perception and location. The vehicle driving system disclosed may include a storage media, a radar system, a location component and a driver controller. The storage media stores a map of roadways. The radar system is configured to generate perception information from a region near the vehicle. The location component is configured to determine a location of the vehicle on the map based on the radar perception information and other navigation related data. The drive controller is configured to control driving of the vehicle based on the map and the determined location.

SPARSE MAP AUTONOMOUS VEHICLE NAVIGATION

A system for sparse map autonomous navigation of a vehicle along a road segment may include at least one processor. The at least one processor may be programmed to receive a sparse map of the road segment. The sparse map may have a data density of no more than 1 megabyte per kilometer. The at least one processor may be programmed to receive from a camera, at least one image representative of an environment of the vehicle, and determine an autonomous navigational response for the vehicle based on the analysis of the sparse map and the at least one image received from the camera. 128-. (canceled)29. A system for sparse map autonomous navigation of a vehicle along a road segment , the system comprising:at least one processor programmed to:receive a sparse map of the road segment, wherein the sparse map has a data density of no more than 1 megabyte per kilometer;receive from a camera, at least one image representative of an environment of the vehicle;analyze the sparse map and the at least one image received from the camera; anddetermine an autonomous navigational response for the vehicle based on the analysis of the sparse map and the at least one image received from the camera.30. The system of claim 29 , wherein the sparse map includes a polynomial representation of a target trajectory along the road segment.31. The system of claim 29 , wherein the sparse map includes one or more recognized landmarks.32. The system of claim 31 , wherein the recognized landmarks are spaced apart in the sparse map at a rate of no more than 0.5 per kilometer.33. The system of claim 31 , wherein the recognized landmarks are spaced apart in the sparse map at a rate of no more e than 1 per kilometer.34. The system of claim 31 , wherein the recognized landmarks are spaced apart in the sparse map at a rate of no more than 1 per 100 meters.35. The system of claim 29 , wherein the sparse map has a data density of no more than 100 kilobytes per kilometer.36. The system of claim 29 , wherein the ...

POINT OF INTEREST DATABASE MAINTENANCE SYSTEM

A method of processing data at a server () for maintenance of a database () of points of interest, such as speed limit enforcement devices. Each of the devices represented in the database has at least one attribute and a confidence value indicative of the accuracy of the at least one attribute associated therewith. The confidence value is time dependent and varies according to a pre-defined decay function. A report () relating to an attribute of a speed limit enforcement device is received at the server () from a mobile device (). The confidence value associated with the speed limit enforcement device is adjusted in accordance with the received report, and information relating to the speed limit enforcement device () is selectively transmitted to the or another mobile device () based on the confidence value. 1. A method of processing data for maintenance of a database of points of interest (POI) , each point of interest represented in the database having at least one attribute and a time-varying confidence value indicative of the accuracy of the at least one attribute associated therewith , the method comprising:transmitting a request to one or more remote devices to provide confirmation of an attribute of a point of interest when the confidence value associated with the point of interest is below a predetermined threshold;receiving a report relating to the attribute in response to the transmitted request from at least one of the remote devices; andadjusting the confidence value associated with the point of interest in accordance with the received report.2. The method of claim 1 , wherein the confidence value associated with the point of interest is increased upon receipt of a positive report indicating the current attribute is correct claim 1 , and wherein the confidence value associated with the point interest is decreased upon receipt of a negative report indicating the current attribute is incorrect.3. The method of claim 1 , wherein the points of interest are ...

VEHICLE CONTROL DEVICE

The present invention provides a technique to accurately recognize a position of a vehicle even in a vicinity of a branch road or a junction road, neither of which is included in map data. The present invention provides a vehicle control device. When a vehicle is traveling on a road that is not described in map data, the vehicle control device is configured to determine whether or not the vehicle is traveling on a junction road or a branch road, based on a positional relationship between a position of the vehicle and a starting point of the junction road or a starting point of the branch road. 1. A vehicle control device configured to control an operation of a vehicle ,the vehicle control device comprising:a position estimation unit configured to estimate a position of the vehicle;a map storage unit configured to store map data where a coordinate of a road is described;a road identification unit configured, by cross-checking the position of the vehicle that the position estimation unit has estimated with the map data, to identify a traveling road that the vehicle is traveling,wherein the road identification unit is configured, on determination that the vehicle is traveling on an off-map road that is not described in the map data, to determine whether or not a connecting road is described in the map data, the connecting road configured to connect the off-map road to an adjacent road that is adjacent to the off-map road,the road identification unit is configured, when the vehicle is traveling on the off-map road and when the connecting road is described in the map data, to further determine whether or not the vehicle has traveled past at least any one of a starting point of the connecting road and an ending point of the connecting road, andthe road identification unit is configured, on determination that the vehicle has traveled past at least any one of the starting point and the ending point, to identify the traveling road based on a result of determination whether ...

POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, AND RECORDING MEDIUM

Disclosed is a position estimation device for estimating position information of the position estimation device itself using detection information detected by a position detector and predetermined map information acquired from a server apparatus connected via a network. The position estimation device includes one or more processors; and a memory, the memory storing instructions, which when executed by the one or more processors, cause the one or more processors to: determine priorities of a plurality of regions, using region information including respective information pieces of the plurality of regions around the position estimation device and one of the detection information and the position information; and to acquire the predetermined map information corresponding to at least some of the plurality of regions from the server apparatus in accordance with the determined priorities. 1. A position estimation device for estimating position information of the position estimation device itself using detection information detected by a position detector and predetermined map information acquired from a server apparatus connected via a network , the position estimation device comprising:one or more processors; anda memory, the memory storing instructions, which when executed by the one or more processors, cause the one or more processors to:determine priorities of a plurality of regions, using region information including respective information pieces of the plurality of regions around the position estimation device and one of the detection information and the position information; andacquire the predetermined map information corresponding to at least some of the plurality of regions from the server apparatus in accordance with the determined priorities.2. The position estimation device according to claim 1 , whereinthe region information includes information indicating whether a communication with the network is available in each of the plurality of regions.3. The ...

TRAJECTORY DATA COMPRESSION

A method, computer system, and computer readable product for trajectory data compression are disclosed. In embodiments, the method comprises generating spatial data for one or more moving objects; projecting the data onto a network comprised of a plurality of trajectories, the network constraining movement of the one or more moving objects; and storing the projected data in a data store. In embodiments of the invention, the method further comprises translating updates and queries to the spatial data, using specified data of the network, into links to the data store, and using the links to update and query the data store. In embodiments of the invention, the specified data of the network are stored in a network store. In embodiments of the invention, each of the trajectories includes one or more sub-trajectories, and the projecting the spatial data onto a network includes projecting the spatial data onto the sub-trajectories. 1. A computer-implemented method of trajectory data compression comprising:generating, in a computer processor system, spatial data for one or more moving objects;projecting, by the computer processor system, the spatial data onto a network comprised of a plurality of defined trajectories, the network constraining movement of the one or more moving objects to the defined trajectories; 'for each of the one or more moving objects, storing in a spatial data table, an identification of the each moving object, and a link to one of the trajectories on which said each moving object moves;', 'storing, by the computer processor system, the projected spatial data in a spatial data store, including,'} 'for each of the one or more moving objects, storing a time series data set in a time series table, the time series data set including an identification of the each moving object, a time value identifying a time, and position data identifying a position of the each moving object at said time; and', 'storing, by the computer processor system, time series data ...

METHOD, DEVICE AND APPARATUS FOR ACQUIRING MAP, AND COMPUTER READABLE STORAGE MEDIUM

Embodiments of the present disclosure provide a method and a device for acquiring a map, a device, and a computer readable storage medium. The method includes: acquiring a reference map of an acquisition area; dividing the acquisition area into a plurality of sub-areas based on the reference map; generating a plurality of acquisition tasks corresponding to the plurality of sub-areas, wherein each of the plurality of acquisition tasks is configured to acquire a map of each of the plurality of sub-areas; and assigning each of the plurality of acquisition tasks to an acquisition entity, to enable the acquisition entity to acquire the map of each of the plurality of sub-areas. 1. A method for acquiring a map , applicable to a server , comprising:acquiring a reference map of an acquisition area;dividing the acquisition area into a plurality of sub-areas based on the reference map;generating a plurality of acquisition tasks corresponding to the plurality of sub-areas, wherein each of the plurality of acquisition tasks is configured to acquire a map of each of the plurality of sub-areas; andassigning each of the plurality of acquisition tasks to an acquisition entity, to enable the acquisition entity to acquire the map of each of the plurality of sub-areas.2. The method according to claim 1 , further comprising:updating the reference map based on the map of each of the plurality of sub-areas in response to receiving the map of each of the plurality of sub-areas from the acquisition entity.3. The method according to claim 1 , wherein each of the plurality of sub-areas is a polygonal area.4. The method according to claim 1 , wherein each of the plurality of sub-areas comprises a driving path claim 1 , and the driving path comprises an entrance and an exit.5. The method according to claim 1 , wherein dividing the acquisition area into the plurality of sub-areas comprises:recognizing a road element of the reference map; anddividing the acquisition area into the plurality of ...

DEVICE AND METHOD FOR ASSISTING DRIVING OF VEHICLES

An apparatus and a method for assisting traveling of a vehicle are provided. The apparatus includes: a sensing unit; a processor configured to generate a traveling route available to the vehicle by using information acquired through the sensing unit while the vehicle is traveling; and a memory storing information about the generated available traveling route. 1. An apparatus for assisting traveling of a vehicle ,the apparatus comprising:a sensing unit;a processor configured to generate a traveling route available to the vehicle by using information acquired through the sensing unit while the vehicle is traveling; anda memory storing information about the generated available traveling route.2. The apparatus of claim 1 , whereinthe processor is further configured togenerate the traveling route available to the vehicle so as to correspond to a route along which the vehicle travels, by using the acquired information.3. The apparatus of claim 2 , whereinthe processor is further configured todetermine coordinates, corresponding to points included in the route, on a high definition map by using the acquired information and generate the available traveling route on the high definition map by using the coordinates.4. The apparatus of claim 1 , whereinthe processor is further configured togenerate the traveling route available to the vehicle so as to correspond to a route, along which an external vehicle near the vehicle travels, by using the acquired information.5. The apparatus of claim 1 , whereinthe processor is further configured togenerate the traveling route available to the vehicle based on at least one of a route along which the vehicle travels, a route along which an external vehicle near the vehicle travels, a lane shape around the vehicle, a road state around the vehicle, a traffic state around the vehicle, and a type of the external vehicle near the vehicle.6. The apparatus of claim 1 , whereinthe processor is further configured todetermine a plurality of ...

Robot Localization with Co-located Markers

One method disclosed includes identifying, in a map of markers fixed in an environment, two co-located markers within a threshold distance of each other, where each of the two co-located markers has a non-overlapping visibility region. The method further includes determining a set of detected markers based on sensor data from a robotic device. The method additionally includes identifying, from the set of detected markers, a detected marker proximate to a first marker of the two co-located markers. The method also includes enforcing a visibility constraint based on the non-overlapping visibility region of each of the two co-located markers to determine an association between the detected marker and a second marker of the two co-located markers. The method further includes determining a location of the robotic device in the environment relative to the map based on the determined association. 1. A method comprising:determining locations of a plurality of mapped markers in a map of an environment of a robotic device;determining a visibility region for each of the plurality of mapped markers;detecting a set of detected markers based on sensor data from the robotic device;identifying a plurality of matches between detected markers and mapped markers such that each match includes a detected marker within a threshold distance of a mapped marker, wherein the mapped marker satisfies a visibility constraint based on the visibility region of the mapped marker and a current position of the robotic device; anddetermining a location of the robotic device in the environment relative to the map based on the plurality of matches.2. The method of claim 1 , wherein a nearest neighbor search is used to identify the plurality of matches between detected markers and mapped markers.3. The method of claim 2 , wherein the nearest neighbor search comprises a grid search claim 2 , and wherein the grid search returns a grid cell that includes at least one of the plurality of mapped markers for ...

METHODS AND SYSTEMS FOR BLIND SPOT DETECTION IN AN AUTONOMOUS VEHICLE

Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a processor, sensor data sensed from an environment of the vehicle; processing, by the processor, the sensor data to determine a blind spot of the environment of the vehicle; setting, by the processor, an operation mode of the vehicle to a caution mode based on the determined blind spot; and controlling, by the processor, operation of the vehicle based on the operation mode. 1. A method of controlling a vehicle , comprising:receiving, by a processor, sensor data sensed from an environment of the vehicle;processing, by the processor, the sensor data to determine a blind spot of the environment of the vehicle;setting, by the processor, an operation mode of the vehicle to a caution mode based on the determined blind spot; andcontrolling, by the processor, operation of the vehicle based on the operation mode.2. The method of claim 1 , wherein when in the caution mode claim 1 , the controlling comprises generating control signals to control at least one of the speed and the acceleration of the vehicle.3. The method of claim 1 , wherein the control signals control the at least one of speed an acceleration of the vehicle based on a creep forward method.4. The method of claim 1 , wherein the control signals control the at least one of speed an acceleration of the vehicle based on a degree of caution determined from at least one of a location and vehicle information.5. The method of claim 1 , wherein the processing the sensor data to determine a blind spot comprises:defining an area associated with a path of the vehicle, andevaluating the sensor data in the defined area.6. The method of claim 5 , wherein the defining the area is based on at least one of common obstacles and risk factors.7. The method of claim 5 , wherein the evaluating the sensor data comprises evaluating the sensor data for at least one of space that is clear claim 5 , space that is not clear claim ...

METHOD OF COLLECTING ROAD SIGN INFORMATION USING MOBILE MAPPING SYSTEM

A method of collecting road sign information using a mobile mapping system, which can collect information on the markings on the road in real-time and map the information to a high definition map using the mobile mapping system including a remote sensing device and a navigation device is disclosed. Particularly, the system may collect correct road marking information in real-time by extracting objects and attributes from successive images on the basis of deep learning and map the road marking information to a high definition map, and remarkably improve accuracy of recognizing the road marking information. Accordingly, reliability and competitiveness may be enhanced in the autonomous driving field, the road recognition field, the high definition road map field for autonomous driving, and the fields similar or related thereto. 1. A method of collecting road sign information using a mobile mapping system , the method comprising:a road data collection step of collecting road data including image data and point cloud data using the mobile mapping system;an object recognition step of detecting a bounding box for each object included in successive image data, and confirming the object and attributes of the corresponding object; andan object mapping step of calculating a spatial coordinate value of a corresponding object on a high definition map from the point cloud data, whereinthe object recognition step includes:a bounding box information confirmation step of confirming bounding box information including the number of bounding boxes included in the image data, object attribute information of a corresponding bounding box, and location coordinates of the corresponding bounding box;a bounding box information collection step of tracking, for any one bounding box, location coordinates for each image data, and collecting information on the corresponding bounding box for each image data; andan object attribute determination step of selecting an object having the largest number ...

SYSTEM AND METHOD FOR OPTIMIZATION USING AUTONOMOUS VEHICLE

A method for optimizing operations using an autonomous vehicle is provided. The method includes receiving input data, receiving sensor data collected by an autonomous vehicle, and identifying an instance where a portion of the sensor data and a portion of the input data are correlated. The method further includes identifying the portion of the sensor data included in the instance where the portion of the sensor data and the portion of the input data are correlated as a trigger signal, and modifying a process of a target retailer based on the trigger signal. 1. A method for optimizing operations using an autonomous vehicle , the method comprising:receiving, from a first server, input data;receiving, from a second server, sensor data collected by the autonomous vehicle;identifying, by a processor, an instance where a portion of the sensor data and a portion of the input data are correlated;identifying, by the processor, the portion of the sensor data included in the instance where the portion of the sensor data and the portion of the input data are correlated as a trigger signal; andmodifying, by the processor, a process of a target retailer based on the trigger signal.2. The method of claim 1 , wherein the input data includesa description of items sold,a time at which the items were sold, anda location at which the items were sold.3. The method of claim 1 , wherein the input data includes sales data collected from one or more payment transaction terminals located within a retailer facility.4. The method of claim 1 , further comprising:comparing, by the processor, the trigger signal with a predetermined threshold;if strength of the trigger signal is greater than or equal to the predetermined threshold, determining the trigger signal to be a valid trigger signal; andif the strength of the trigger signal is less than the predetermined threshold, determining the trigger signal to be an intermediate trigger signal.5. The method of claim 4 , further comprising:generating, ...

MOBILE APPARATUS, MAP MANAGEMENT APPARATUS, POSITIONING SYSTEM, CONTROL CIRCUIT, AND RECORDING MEDIUM

A mobile apparatus according to the disclosure includes: a sensor unit to calculate a moving distance and a moving direction; a positioning unit to calculate a first current position by using positioning information for positioning provided in a calibration area that is among areas in which the positioning information is provided, the calibration area being the area in which first reliability representing accuracy of the positioning information is equal to or higher than a first threshold; a current position calculation unit to estimate a second current position by using the moving distance and the moving direction calculated by the sensor unit; and a calibration unit to calibrate a parameter to be used to estimate the second current position in the current position calculation unit, by using the first current position. 1. A mobile apparatus comprising:a sensor to calculate a moving distance and a moving direction;a map manager to acquire first reliability from a map management apparatus, the map management apparatus managing the first reliability, and the first reliability representing accuracy of positioning information associated with a position;a positioner to acquire the positioning information from a positioning device, determine a calibration area that is an area in which the first reliability is equal to or higher than a first threshold based on the first reliability acquired by the map manager, and calculate a first current position by using the positioning information acquired in the calibration area;a current position calculator to estimate a second current position by using the moving distance and the moving direction calculated by the sensor; anda calibrator to calibrate a parameter to be used to estimate the second current position in the current position calculator, by using the first current position.2. The mobile apparatus according to claim 1 , whereinthe current position calculator calculates the second current position in a coordinate system of a ...

Methods and Systems for Map Matching

An advanced map matching algorithm is disclosed, which embeds the road topology inherently in a set of path candidates. Road connectivity is maintained even in special situations such as U-turns, reverse driving, and tunnels. Careful path candidate management is designed to reduce the candidate count while preserving well-matching candidates. Paths are treated and evaluated independently using multiple criteria, which makes the algorithm reliable and robust in different scenarios. 1. A method of matching a current position of a device to an electronic map indicative of a network of navigable elements , the electronic map comprising a plurality of segments representative of the navigable elements , the method comprising:obtaining positional data indicative of the movement of the device, the positional data comprising a plurality of position data samples indicative of the position of the device at different times;obtaining electronic map data in respect of at least a portion of the area covered by the electronic map;maintaining a pool of candidate paths with respect to the electronic map, each candidate path being a possible path in a first driving direction through the electronic map to which the current position of the device may be matched, each candidate path comprising one or more segments of the electronic map, wherein said maintaining further comprises, upon detecting that a U-turn manoeuvre has been performed by the device, creating an additional set of candidate paths for inclusion in the pool, wherein each candidate path is a possible path in a second, opposite driving direction through the electronic map to which the current position of the device may be matched, each candidate path comprising one or more segments of the electronic map;identifying a candidate path from the pool which provides the best match to the positional data, based on a plurality of said position data samples;using the identified candidate path in obtaining an estimated current ...

Map information generation system, method, and program

Map information generation systems, methods, and programs acquire a movement track of a mobile body, and correct a position of the movement track such that the movement track approaches an existing road. The systems, methods, and programs acquire a section in which the corrected movement track does not correspond to the existing road as a new road, and add information that indicates the new road to map information.

Indexing Routes Using Similarity Hashing

A method and apparatus for indexing routes using similarity hashing. In an embodiment, a processor identifies a route wherein the route includes one or more links. The processor identifies a route attribute wherein the route attribute describes the route. The processor hashes the one or more links to determine a minimum link with a minimum hash value. The processor assigns the route attribute to the minimum link.

METHOD AND SYSTEM FOR ASSISTING THE DRIVING OF AN AUTONOMOUS VEHICLE ON A ROAD HAVING REQUIRED PASSING ZONES

A method for assisting the driving of a vehicle (V) on a road (R) having a portion (PV) with mandatory passing zones (ZP-ZP), wherein the vehicle (V) is capable to communicate by over-the-air waves and to be driven autonomously. The method comprises a step where, when the vehicle (V) reaches the vicinity of the portion of the road, the vehicle's relative position with respect to a predefined location of at least one mandatory passing zone (ZP) is determined, then a path to follow passing through a mandatory passing zone (ZP) is determined as a function of mapping information defining the mandatory passing zones, traffic information in the mandatory passing zones and the determined relative position of the vehicle, and then the driving of the vehicle (V) is controlled so that it takes this path to follow. 1. A method for assisting the driving of an autonomous vehicle on a road having a portion provided with at least two mandatory passing zones , said vehicle comprising a driving assistance system and being adapted to communicate by over-the-air waves , said vehicle being autonomously controlled by said driving assistance system as a function of a position of said vehicle , the method comprising:determining a relative position of said vehicle is determined with respect to a predefined location of at least one of said mandatory passing zones when said vehicle reaches the vicinity of said portion of said road, a step in which; thendetermining a path to follow for said vehicle which passes through one of said at least one mandatory passing zones, said path to follow being determined as a function of mapping information defining at least some of the mandatory passing zones, traffic information defining traffic in at least some of the mandatory passing zones, and said determined relative position; andthen, the said driving assistance system autonomously driving said vehicle so that said vehicle takes the path to follow.2. The method according to claim 1 , wherein each ...

MAP HAVING COMPUTER EXECUTABLE INSTRUCTIONS EMBEDDED THEREIN

Methods, apparatuses, systems, and computer program products are provided. An example method comprises accessing a record for a particular traversable map element. The record comprises an executable instruction. The example method further comprises receiving sensor data from one or more sensors. The sensor data corresponds to the particular traversable map element. The method further comprises executing, by a processor, the executable instruction. Executing the executable instruction causes analysis of at least a portion of the sensor data. 1. A method comprising:accessing a record for a particular traversable map element the record comprising an executable instruction;receiving sensor data from one or more sensors, the sensor data corresponding to the particular traversable map element; andexecuting, by a processor, the executable instruction, wherein executing the executable instruction causes analysis of at least a portion of the sensor data.2. A method according to wherein executing the executable instructions causes analysis of (a) at least a portion of second sensor data corresponding to a second particular traversable map element or (b) a combination of at least a portion of the second sensor data and at least a portion of the sensor data.3. A method according to wherein execution of the executable instructions is influenced by at least one of vehicle type claim 1 , vehicle make/model claim 1 , time of day claim 1 , road segment immediately previously traversed by the vehicle claim 1 , and vehicle route.4. A method according to claim 1 , wherein executing the executable instruction further causes transmission of an indication of the result of analyzing the at least a portion of the sensor data.5. A method according to claim 1 , wherein the executable instruction comprises at least one of a minimum reporting threshold and a maximum reporting threshold claim 1 , and wherein the method further comprises:determining if a result of analyzing the at least a portion ...

METHOD AND APPARATUS FOR LOCALIZING AND AUTOMATICALLY OPERATING A VEHICLE

A method and an apparatus for localizing and automatically operating a vehicle, including the task of detecting environmental data values that represent an environment of the vehicle, the environment of the vehicle including at least one interfering object; determining an environment class of the environment of the vehicle; determining a high-accuracy position of the vehicle based on the environmental data values, at least one filter being applied to filter the at least one interfering object out of the environmental data values, the at least one filter being selected as a function of the environment class, and the high-accuracy position being determined after the at least one interfering object is filtered out; and automatically operating the vehicle as a function of the high-accuracy position. 1. A method for localizing and automatically operating a vehicle , the method comprising:detecting environmental data values that represent an environment of the vehicle, the environment of the vehicle encompassing at least one interfering object;determining an environment class of the environment of the vehicle;determining a high-accuracy position of the vehicle based on the environmental data values;applying at least one filter to filter the at least one interfering object out of the environmental data values, wherein the at least one filter is selected as a function of the environment class, and wherein the high-accuracy position is determined after the at least one interfering object is filtered out; andautomatically operating the vehicle as a function of the high-accuracy position.2. The method of claim 1 , wherein the environment class is determined based on the environmental data values.3. The method of claim 1 , wherein the environment class is determined by the fact that an approximate position of the vehicle is transferred to an external server claim 1 , and the environment class claim 1 , as a function of the approximate position claim 1 , is received from the ...

METHODS AND SYSTEMS FOR DETERMINING ROUTING

Systems and methods are presented for sequencing locations and events and determining routing and itineraries for the sequence. In some embodiments the system may receive a starting location, a first location, and a second location in a default order. The system may determine a sequence from the starting location for the first location and the second location. The system may generate a route for the sequence with the route having transportation directions between the starting location, the second location, and the first location indicative of the sequence. The system may display the route in a graphical user interface of an application. 1. (canceled)2. A system comprising:one or more computer-readable memories storing program instructions; and receiving information corresponding to a first event and information corresponding to a second event, wherein the first event is associated with a first location and the second event is associated with a second location;', 'determining an optimal route, the optimal route including the first location, and the second location, wherein the optimal route is determined by one or more factors associated with the first event and the second event;', 'determining a suggestion corresponding to a third event, the third event associated with a third location; and', 'in response to receiving an acceptance of the suggestion corresponding to the third event, updating the optimal route to include the third location., 'one or more processors configured to execute the program instructions to cause the system to perform operations comprising3. The system of claim 2 , wherein the optimal route further includes a location of a user.4. The system of claim 2 , wherein the information corresponding to the first user included in the alert comprises identity information of the first user and a location of the first user.5. The system of claim 2 , wherein the one or more factors associated with the first event and the second event include traffic ...

AN APPARATUS AND ASSOCIATED METHODS FOR INDICATING ROAD DATA GATHERER UPLOAD ZONES

An apparatus comprising a processor and memory including computer program code, the memory and computer program code configured to, with the processor, enable the apparatus at least to: 1. An apparatus comprising a processor and memory including computer program code , the memory and computer program code configured to , with the processor , enable the apparatus at least to:calculate a planned route to be traveled by a road data gatherer based on a received destination for the road data gatherer;generate an indication of one or more communication network receiver upload zones for along the planned route for the road data gatherer for one or more respective time periods, the indication being determined according to a predetermined upload criterion that takes account of received information about available bandwidth capacities of communication network receivers along the planned route, so that the indication specifies communication network receivers to be used or not used by the road data gatherer to upload road data in the one or more respective time periods; andprovide the indication to guide uploading of the road data gathered by the road data gatherer.2. The apparatus of claim 1 , wherein the apparatus is configured such that the predetermined upload criterion takes accounts of one of:bandwidth capacities of communication network receivers along the planned route for a particular road data gatherer independently of planned routes of other road data gatherers; andbandwidth capacities of communication network receivers along the planned route for a particular road data gatherer dependent on the planned routes of other road data gatherers.3. The apparatus of claim 1 , wherein the apparatus is configured such that the predetermined upload criterion takes accounts of bandwidth capacities of communication network receivers along the planned route for a particular road data gatherer dependent on the planned routes of other road data gatherers by considering an expected ...

Method, System and Computer Program for Automatically Detecting Traffic Circles on Digital Maps

A computer-implemented method for detecting a traffic circle on a digital map, the method comprising: detecting a cycle within a road graphic of the digital map; calculating a similarity of an internal angle of a corner of a polygon, which represents the geometry of the cycle, to an internal angle of a corresponding corner of a reference polygon; calculating a similarity indicator on the basis of the calculated similarity of the internal angle of all the corners of the polygon of the detected cycle; and, if the similarity indicator exceeds a predefined threshold value, defining the detected cycle as a traffic circle on the digital map. 1. A computer-implemented method for detecting a traffic circle in a digital map , the method comprising the steps of:detecting a cycle within a street graph of the digital map;calculating a similarity of an interior angle of a corner of a polygon which represents the geometry of the cycle to an interior angle of a corresponding corner of a reference polygon;calculating a similarity indicator on the basis of the calculated similarity of the internal angles of all corners of the polygon of the detected cycle; andsetting the detected cycle as a traffic circle in the digital map if the similarity indicator exceeds a predefined threshold.2. The method as claimed in claim 1 , further comprising the step of: wherein the seed point is a trivalent vertex of a street graph of the digital map, and', 'wherein the cycle is determined proceeding from the determined seed point within the street graph of the digital map., 'determining a seed point in the street graph,'}3. The method as claimed in claim 2 , whereinthe reference polygon is a polygon which has the same number of edges as the polygon representing the geometry of the detected cycle, and approximates a circle.4. The method as claimed in claim 1 , whereinthe reference polygon is a polygon which has the same number of edges as the polygon representing the geometry of the detected cycle, and ...

METHOD AND SYSTEM FOR MAP MATCHING OF ROAD SIGN OBSERVATIONS

A method, system, and computer program product is provided, for example, for matching a road sign observation information on a map application. The method may include receiving the road sign observation information. The method may further include identifying a plurality of candidate links based on a first distance between a location of the road sign observation information detection and a plurality of shape points. Additionally, the method may include calculating a heading difference between each of the plurality of candidate links and the location of the road sign observation information detection. Furthermore, the method may include identifying one or more qualified links from the plurality of candidate links, wherein the heading difference between each of the one or more qualified links from the plurality of candidate links and the location of the road sign observation information detection is within a predetermined heading difference threshold. Also, the method may include matching the road sign observation information to at least one of the one or more qualified links based on a second distance. Finally, the method may include changing the map-matched link from the candidate link to its downstream link if the road sign is too close to the end of the map-matched candidate link. 1. A method for matching a road sign observation information on a map application comprising:receiving the road sign observation information;identifying a plurality of candidate links based on a first distance between a location of the road sign observation information detection and a plurality of shape points;calculating, by a processor, a heading difference between each of the plurality of candidate links and the location of the road sign observation information detection;identifying one or more qualified links from the plurality of candidate links, wherein the heading difference between each of the one or more qualified links from the plurality of candidate links and the location of ...

SYSTEM AND METHOD FOR MAPPING THROUGH INFERENCES OF OBSERVED OBJECTS

System, methods, and other embodiments described herein relate to improving mapping of a surrounding environment by a mapping vehicle. In one embodiment, a method includes identifying dynamic objects within the surrounding environment that are proximate to the mapping vehicle from sensor data of at least one sensor of the mapping vehicle. The dynamic objects are trackable objects that are moving within the surrounding environment. The method includes generating paths of the dynamic objects through the surrounding environment relative to the mapping vehicle according to separate observations of the dynamic objects embodied within the sensor data. The method includes producing a map of the surrounding environment from the paths. 1. A mapping system for improving mapping of a surrounding environment using a mapping vehicle , comprising:one or more processors; a tracking module including instructions that when executed by the one or more processors cause the one or more processors to identify dynamic objects within the surrounding environment that are proximate to the mapping vehicle from sensor data of at least one sensor of the mapping vehicle, wherein the dynamic objects are trackable objects that are moving within the surrounding environment; and', 'an inference module including instructions that when executed by the one or more processors cause the one or more processors to generate paths of the dynamic objects through the surrounding environment relative to the mapping vehicle according to separate observations of the dynamic objects embodied within the sensor data, and wherein the inference module includes instructions to produce a map of the surrounding environment from the paths., 'a memory communicably coupled to the one or more processors and storing2. The mapping system of claim 1 , wherein the inference module includes instructions to produce the map including instructions to aggregate the paths into at least roads that relate logged locations of the ...

MAP MATCHED AGGREGATION FOR K-ANONYMITY IN TRAJECTORY DATA

An apparatus for providing anonymity in geographic data for probe devices in a geographic region for a location-based service includes at least a database, a map matcher, and an aggregation calculator. The database is configured to store trajectory data based on sequences of sensor measurements of the probe devices. The map matcher is configured to match a map, including cells, with the trajectory data, and each of the cells includes edges and a face. The aggregation calculator configured to calculate a number of trajectories in the trajectory data that passes through each of the edges and compare the number of trajectories in the trajectory data for at least one of the edges to a threshold. The geographic data is modified in response to the comparison of the number of trajectories in the trajectory data for the at least one of the edges. 1. A method for providing anonymity in geographic data for probe devices in a geographic region for a location-based service , the method comprising:receiving trajectory data based on sequences of sensor measurements of the probe devices;generating, by a processor, data representing a map of initial geographic data using a plurality of cells, wherein each of the plurality of cells includes a plurality of edges and a face;map matching the trajectory data to the plurality of cells;calculating, by the processor, a number of trajectories in the trajectory data that passes through each of the plurality of edges;performing, by the processor, a comparison of the number of trajectories in the trajectory data for at least one of the plurality of edges to a threshold; andmodifying, by the processor, the geographic data in response to the comparison of the number of trajectories in the trajectory data for the at least one of the plurality of edges.2. The method of claim 1 , wherein the map matching further comprises:assigning at least one point from the trajectory data to a road link.3. The method of claim 2 , wherein the road link is a first ...

METHOD AND DEVICE FOR OPERATING A VEHICLE

A method and a first device for creating and providing a highly accurate map, including a step of receiving surroundings data values, which represent surroundings of an automated vehicle, the surroundings of the automated vehicle including at least one surroundings feature and the surroundings data values including an assessment of the at least one surroundings feature, including the step of reading in of map data values, which represent a first map, the first map including the at least one surroundings feature, including a step of creating the highly accurate map based on the map data values and as a function of the assessment of the at least one surroundings feature, including the step of providing the highly accurate map. In addition, a second device for assessing and transmitting surroundings data values, including a surroundings sensor system for detecting the surroundings data values, which represent surroundings of an automated vehicle, the surroundings of the automated vehicle including at least one surroundings feature, including assessment means for creating an assessment of the at least one surroundings feature as a function of the detection of the surroundings data values, and including a transmitting unit for transmitting the surroundings data values, the surroundings data values including the assessment of the at least one surroundings feature. 111.-. (canceled)12. A method for creating and providing a highly accurate map , comprising:receiving surroundings data values that represent surroundings of an automated vehicle, wherein the surroundings of the automated vehicle include at least one surroundings feature, and wherein the surroundings data values include an assessment of the at least one surroundings feature;reading in map data values that represent a first map that includes the at least one surroundings feature;creating the highly accurate map based on the map data values and as a function of the assessment of the at least one surroundings ...

METHOD, APPARATUS, AND SYSTEM FOR OPERATING A VEHICLE BASED ON VULNERABLE ROAD USER DATA

An approach is provided for operating a vehicle using vulnerable road user data. The approach, for example, involves determining a road link on which the vehicle is traveling or expects to travel. The approach also involves querying a geographic database for a vulnerable road user attribute of the road link. The approach further involves providing a notification to activate or deactivate an autonomous driving mode of the vehicle, a vehicle sensor of the vehicle, or a combination thereof while the vehicle travels on the road link based on determining that the vulnerable road user attribute meets a threshold criterion. 1. A computer-implemented method for operating a vehicle based on vulnerable road user data comprising:determining a road link on which the vehicle is traveling or expects to travel;querying a geographic database for a vulnerable road user attribute of the road link; andproviding a notification to activate or deactivate an autonomous driving mode of the vehicle, a vehicle sensor of the vehicle, or a combination thereof while the vehicle travels on the road link based on determining that the vulnerable road user attribute meets a threshold criterion.2. The method of claim 1 , wherein the querying of the geographic database further comprises determining that a time at which the vehicle is traveling or expects to travel on the road link lies within a time epoch associated with the vulnerable road user attribute in the geographic database.3. The method of claim 1 , wherein the vulnerable road user attribute includes an attribute indicating a density of vulnerable road users on the road link.4. The method of claim 1 , wherein the threshold criterion includes a first threshold value that indicates a probability of a presence of a vulnerable road user on the road link is greater than a first target probability claim 1 , and wherein the autonomous driving mode is deactivated to transition the vehicle to a manual driving mode while traveling on the road link ...

SYSTEMS AND METHODS FOR POSE DETERMINATION

The present disclosure provides a method for pose determination. The method may include obtaining a first pose of a subject at a first time point. The method may further include retrieving one or more first features associated with a road from a database. The road may be viewable by the subject at the first pose and at the first time point. The method may further include obtaining an image captured by the subject at a second time point. The method may further include extracting one or more second features associated with the road from the image. The method may also include determining a second pose of the subject at the second time point at least based on comparing the one or more first features associated with the road with the one or more second features associated with the road. 1. A system , comprising:at least one storage medium including a set of instructions; and obtaining a first pose of a subject at a first time point;', 'retrieving one or more first features associated with a road from a database, the road being viewable by the subject at the first pose and at the first time point;', 'obtaining an image captured by the subject at a second time point;', 'extracting one or more second features associated with the road from the image; and', 'determining a second pose of the subject at the second time point at least based on comparing the one or more first features associated with the road with the one or more second features associated with the road., 'at least one processor in communication with the at least one storage medium, wherein when executing the instructions, the at least one processor is configured to direct the system to perform operations including2. The system of claim 1 , wherein obtaining the first pose of the subject at the first time point comprises:determining a preliminary pose of the subject at the first time point;retrieving one or more third features associated with the road from the database based on the preliminary pose of the subject ...

EMERGENCY MAPPING SYSTEM

A unified, weighted, and common language mapping system and method for disaster response is described, with the ability to overlay infrastructure damage, responder assets, data source, and weighting factors including the ability to redact such maps for dissemination to media, the public, or the like. The system and method described herein also enable the real-time updating of maps with social media information and the like. 1. A method , comprising:receiving information about an event from a plurality of data sources;determining at least one of location and time information associated with at least some pieces of information received from the plurality of data sources;storing the at least some pieces of information along with the determined at least one of location and time information in a database;accessing the database to obtain the at least some pieces of information along with the determined at least one of location and time information;using the at least some pieces of information along with the determined at least one of location and time information to generate at least one of a map and a map overlay to provide a graphical understanding of the event at discrete points in time, wherein the at least one of a map and map overlay comprises at least one common term determined by analyzing different lexicons used by different data sources to describe a common object; anddistributing the at least one of a map and map overlay.2. The method of claim 1 , wherein the at least one of a map and map overlay are distributed to communication devices of first responder resources and wherein the at least one of a map and map overlay depict current locations of first responder resources along with destination locations for at least some of the first responder resources.3. The method of claim 2 , wherein the first responder resources comprise first responder resources from multiple different responding entities claim 2 , at least some of which use different communication ...

METHOD FOR OPERATING A MOTOR VEHICLE AND MOTOR VEHICLE

A method for operating a motor vehicle is disclosed which includes determining of a current position of the motor vehicle and accessing a data of map data stored in at least one vehicle-external storage device. The accessed data set contains map data of surroundings of the determined current position of the motor vehicle. The method further include, classifying objects contained in the map data according to stationary objects and moveable objects, and transmitting data contained in the map data of the accessed data set regarding objects classified stationary to at least one interface of the motor vehicle. 115-. (canceled)161. A method for operating a motor vehicle () , wherein the method comprises:determining a current position of a motor vehicle with a position determining device arranged in the motor vehicle;accessing a vehicle-external storage device stored external to the motor vehicle to obtain an accessed data set by a communication device arranged in the motor vehicle, wherein the accessed data set includes map data for at least one region of surroundings with respect to the determined current position of the motor vehicle having at least one object therein; andclassifying the at least one object as a stationary objects or as a moveable object by a classification device arranged in the motor vehicle.17. The method according to wherein the method further comprises transmitting data contained in the accessed data set regarding the at least one objects classified as a stationary object to at least one interface of the motor vehicle.18. The method according to claim 17 , wherein the accessed data set contains image data of an image taken by at least one optical camera claim 17 , and wherein classifying the at least one object contained in the accessed data set includes an image evaluation of the image data by an image evaluation unit arranged in the motor vehicle.19. The method according to claim 17 , wherein the method further comprises determining a probable ...

MATCHING OBSERVATIONAL POINTS TO ROAD SEGMENTS REPRESENTED AS EDGES IN GRAPHS

In one embodiment, a match application identifies an edge corresponding to a road segment based on an observational point specifying an estimated position and an estimated heading. The match application performs search operations on a road network graph based on the estimated position to identify multiple candidate edges. For a first candidate edge, the match application computes a first quality level based on at least a distance between the estimated position and the first candidate edge and an angle between the estimated heading and a direction associated with the first candidate edge. Subsequently, the match application determines that the first quality level indicates that the first candidate edge has a higher quality than any other candidate edge. Finally, the match application transmits the first candidate edge to an application that associates content specified in relation to the estimated position with the first candidate edge. 1. A method for associating an observational point with a road segment , the method comprising:performing one or more search operations on a road network graph based on an estimated position associated with the observational point to identify a plurality of candidate edges, wherein each candidate edge included in the plurality of candidate edges corresponds to a different road segment;computing a first quality level associated with a first candidate edge included in the plurality of candidate edges based on at least a first distance and a first angle, wherein the first distance comprises a distance between the estimated position and the first candidate edge, and the first angle comprises an angle between an estimated heading associated with the observational point and a direction associated with the first candidate edge;determining that the first quality level is greater than a quality level associated with any other candidate edge included in the plurality of candidate edges; andin response to the determining, transmitting at least ...

METHOD FOR CONTROLLING A PERSONAL PROTECTION SYSTEM OF A VEHICLE, AND CONTROL DEVICE

A method for controlling a personal protection system of a vehicle. An item of driving program information, representing a driving program of the vehicle, or, in addition or alternatively, at least one item of additional information, is read in and evaluated to obtain an item of evaluation information. An off-road driving signal, indicating off-road driving of the vehicle, is produced as the evaluation information if the evaluation yields the result that the vehicle is in an off-road driving program or, in addition or alternatively, is driving off a surfaced roadway. If the evaluation yields the result that the vehicle is not in an off-road driving program or, in addition or alternatively, is traveling on a surfaced roadway, then an on-road driving signal, indicating on-road driving of the vehicle, is produced as the evaluation information. Finally, using the evaluation information a control signal is produced for controlling the personal protection system. 1. A method for controlling a personal protection system of a vehicle , the method comprising:reading in an item of driving program information representing a driving program of the vehicle, and/or at least one item of additional information;evaluating the item of driving program information and/or the additional item of information to obtain an item of evaluation information, an off-road driving signal, indicating off-road driving of the vehicle, being produced as the item of evaluation information if the evaluation yields the result that the vehicle is in an off-road driving program and/or is traveling off a surfaced roadway, and/or an on-road driving signal, indicating on-road driving of the vehicle, being produced as the item of evaluation information if the evaluation yields the result that the vehicle is not in an off-road driving program and/or is driving on a surfaced roadway; andproducing a control signal for controlling the personal protection system using the item of evaluation information.2. The ...

Method for the Operation of an Assistance System of a Motor Vehicle, as well as Assistance System

The invention relates to a method () for operating an assistance system () of a motor vehicle for detecting a polygon traffic sign () with a number of edges (). By means of a camera () an image () of the traffic sign () is detected and within the detected image () a number of first routes () is determined, which is smaller than the number of edges () of the traffic sign (). Based on the first routes () a reproduction () of the traffic sign () is identified. The invention relates further to an assistance system () of a motor vehicle. 110-. (canceled)11. A method of operating an assistance system of a motor vehicle for detecting a polygon traffic sign having a number of edges , comprising steps:with a camera, detecting an image of the traffic sign;with a computing unit of the assistance system, analyzing the image of the traffic sign and thereby determining first line segments in the image of the traffic sign, wherein the number of the first line segments is smaller than the number of edges of the traffic sign; andwith the computing unit, identifying a reproduction of the traffic sign based on and dependent on the first line segments that were determined.12. The method according to claim 11 , wherein the analyzing of the image of the traffic sign comprises performing a gradient method to determine the first line segments in the image.13. The method according to claim 11 , wherein the number of edges of the traffic sign minus one specifies the number of the first line segments.14. The method according to claim 11 , further comprising claim 11 , with the computing unit claim 11 , defining a region within the image claim 11 , determining a number of second line segments in the region claim 11 , and then performing the determining of the first line segments by selecting the first line segments from among the second line segments.15. The method according to claim 14 , wherein all substantially horizontal line segments and all substantially vertical line segments within the ...

LOCALIZATION DEVICE FOR VISUALLY DETERMINING THE LOCATION OF A VEHICLE

A localization device for visually determining the location of a vehicle includes a camera unit for capturing image data and a control unit. The control unit is configured to recognize at least one landmark in the captured image data and to determine a quality value for each landmark. The determination of the quality value involves multiple recognitions of the particular landmark. In addition, multiple quality values for one landmark can be determined for different observation positions or observation directions. The control unit is further configured to adjust the quality value of a landmark already contained in a map, based on a new recognition by the localization device. The control unit is configured to determine the position of the localization device based on the recognized landmarks in conjunction with the map. The control unit is further configured to determine the position of landmarks in relation to a global coordinate system. 1. A localization device for visually determining the location of a vehicle , comprising:a camera unit for capturing image data; anda control unit,wherein the control unit is configured to recognize at least one landmark in the captured image data,wherein the control unit is configured to determine a quality value for each recognized landmark, which quality value corresponds to at least one of the recognizability, the permanence, and the contribution of the landmark to the localization,wherein the determination of the quality value involves multiple recognitions of the landmark,wherein the control unit is configured to adjust the quality value of a landmark already contained in a map, based on a new recognition by the localization device, andwherein the control unit is configured to determine the position of the localization device based on the recognized landmark in conjunction with the map.2. The localization device according to claim 1 , wherein the control unit is further configured to add the recognized landmark to a map if the ...

HIGH DEFINITION MAP BASED LOCALIZATION OPTIMIZATION

A vehicle, for example, an autonomous vehicle performs localization to determine the current location of the vehicle using different localization techniques as the vehicle drives. The localization technique used by the autonomous vehicle is selected from a localization variant index that stores mapping from a driving context to localization variant, each localization variant identifying a localization technique. The driving context may comprise information including: a geographical region in which the autonomous vehicle is driving, a speed at which the autonomous vehicle is driving, an angular velocity of the autonomous vehicle, or other information. Using an optimal localization technique in each driving context improves the accuracy of localization as well as computing efficiency of the process of localization. 1storing information describing a plurality of geographical regions;building a localization index mapping driving contexts to localization variants, wherein a driving context is mapped to one or more localization variants based on a measure of performance of each of the one or more localization variants in the driving context;repeating, by an autonomous vehicle, the following steps while driving: 'driving context for the autonomous vehicle;', 'determining, by the autonomous vehicle, based on the sensor data, a current'}, 'receiving, by the autonomous vehicle, sensor data captured by sensors of the autonomous vehicle;'}determining, by the autonomous vehicle, a localization variant corresponding to the current driving context using the localization index;determining, by the autonomous vehicle, a location of the autonomous vehicle using the localization variant; andnavigating, by the autonomous vehicle, based on the location of the autonomous vehicle.. A non-transitory computer readable storage medium storing instructions, the instructions when executed by a processor, cause the processor to perform steps comprising: storing a plurality of localization ...

SYSTEMS AND METHODS FOR MAP VERIFICATION

Systems and methods are provided for verifying the accuracy of a map. Information regarding objects, such as roadway or roadway-related elements may be encoded into a map to be used for navigation and/or control of a vehicle, such as an autonomous vehicle. In order to verify that the map accurately reflects the roadway or roadway-related elements making up a section of roadway, the vehicle may be driven/ridden along the same section of roadway. A camera feed can be captured of this subsequent traversal of the section of roadway to check if the map includes the requisite roadway or roadway-related elements. The known roadway or roadway-related elements can be occluded from view in the camera feed. Accordingly, if any roadway or roadway-related elements do appear in the camera feed, they can be more easily detected by a verifier, and the processor verification is simplified. 1. A computer-implemented method , comprising:presenting a traveling scene regarding a section of roadway being traversed by a vehicle;determining known roadway objects in the traveling scene based on a previously generated map;occluding the known roadway objects in the traveling scene upon subsequent traversal of the section of roadway; andreceiving input regarding visible roadway objects in the traveling scene during the subsequent traversal of the section of roadway to verify accuracy of the previously generated map.2. The computer-implemented method of claim 1 , wherein the presentation of the traveling scene is performed in real-time during a map verification process.3. The computer-implemented method of claim 1 , wherein the presentation of the traveling scene is performed during an off-line map verification process.4. The computer-implemented method of claim 1 , wherein the determination of the known roadway objects comprises comparing a current location of the vehicle to a commensurate location represented by the previously generated map.5. The computer-implemented method of claim 4 , ...