公开(公告)号：US20240125616A1

公开(公告)日：2024-04-18

申请号：US18045306

申请日：2022-10-10

Applicant: GM Global Technology Operations LLC

Inventor： Bo Yu ,  Joon Hwang ,  Carl P. Darukhanavala ,  Shu Chen ,  Vivek Vijaya Kumar ,  Donald K. Grimm ,  Fan Bai

IPC: G01C21/00

CPC classification number: G01C21/3819 ,  G01C21/387 ,  G01C21/3889

Abstract: A method of correcting a GPS vehicle trajectory of a vehicle on a roadway for a high-definition map is provided. The method comprises receiving first bitmap data from a first sensor of a first vehicle to create a plurality of first multi-layer bitmaps for the first vehicle using the first bitmap data and receiving second bitmap data from a plurality of second sensors of a plurality of second vehicles to create a plurality of second multi-layer bitmaps. The method further comprises creating first probability density bitmaps and an overall probability density bitmap with a probability density estimation, and matching an image template from each of the first probability density bitmaps with the overall probability density bitmap to define match results. The method further comprises combining the match results to define combined utility values and determining the maximal utility value with the combined utility values.

公开(公告)号：US20240062491A1

公开(公告)日：2024-02-22

申请号：US18457314

申请日：2023-08-28

Applicant: Magic Leap, Inc.

Inventor： Miguel Andres Granados Velasquez ,  Javier Victorio Gomez Gonzalez ,  Mukta Prasad ,  Eran Guendelman ,  Ali Shahrokni ,  Ashwin Swaminathan

IPC: G06T19/00 ,  G01C21/00

CPC classification number: G06T19/006 ,  G01C21/387

Abstract: A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps of very large scale environments and render virtual content specified in relation to those maps. The cross reality system may build a persisted map, which may be in canonical form, by merging tracking maps from the multiple devices. A map merge process determines mergibility of a tracking map with a canonical map and merges a tracking map with a canonical map in accordance with mergibility criteria, such as, when a gravity direction of the tracking map aligns with a gravity direction of the canonical map. Refraining from merging maps if the orientation of the tracking map with respect to gravity is not preserved avoids distortions in persisted maps and results in multiple devices, which may use the maps to determine their locations, to present more realistic and immersive experiences for their users.

公开(公告)号：US20230391358A1

公开(公告)日：2023-12-07

申请号：US17830619

申请日：2022-06-02

Applicant: GM Cruise Holdings LLC

Inventor： Burkay Donderici

IPC: B60W60/00 ,  G06V20/58 ,  G01C21/00

CPC classification number: B60W60/001 ,  G06V20/582 ,  G06V20/584 ,  G01C21/3815 ,  G01C21/387 ,  B60W2420/42

Abstract: Systems and methods for retrofitting a vehicle computing system dependent on a certain type of maps to operate with other type(s) of maps are provided. For example, a method performed by a vehicle may include receiving, from one or more sensors of the vehicle, first sensor data associated with a surrounding environment of the vehicle; receiving first map data of a first map type; and retrofitting a vehicle controller of the vehicle that is based on a second map type different from the first map type to operate on the first map data, where the retrofitting includes adapting the first map data using the first sensor data to generate second map data associated with the second map type; and determining, by the vehicle controller, an action for the vehicle based at least in part on the generated second map data.

公开(公告)号：US11808600B2

公开(公告)日：2023-11-07

申请号：US17550471

申请日：2021-12-14

Applicant: GM CRUISE HOLDINGS LLC

Inventor： Roman Sergeev ,  Andrew Robinson ,  Lucio Otavio Marchioro Rech

IPC: G06F16/29 ,  G01C21/00 ,  G01C21/36 ,  G05D1/02 ,  G01C21/02 ,  G06V20/56

CPC classification number: G01C21/3804 ,  G01C21/02 ,  G01C21/3602 ,  G01C21/387 ,  G01C21/3889 ,  G05D1/0274 ,  G06F16/29 ,  G06V20/588

Abstract: Systems, methods, and devices are disclosed for synchronizing map updates for a navigating autonomous vehicle. A management service on a managing node can receive an update to a portion of a first map, where a limited visibility map, which is a subset of the first map, can be determined based on a geographical area around an autonomous vehicle navigating a route. The limited visibility map can be synchronized among all the nodes while the autonomous vehicle is using the limited visibility map by the management service delivering, to a plurality of downstream nodes, the update to the limited visibility map when the update does not modify a portion of the limited visibility map, and by bypassing, to the plurality of downstream nodes, the update to the limited visibility map when the update modifies a portion of the limited visibility map.

公开(公告)号：US11740103B2

公开(公告)日：2023-08-29

申请号：US17672734

申请日：2022-02-16

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yuki Okuma

IPC: G01S19/40 ,  G01C21/00 ,  G01S19/48

CPC classification number: G01C21/3848 ,  G01C21/3807 ,  G01C21/387 ,  G01S19/40 ,  G01S19/485

Abstract: A map creation device includes a processor, and the processor is configured to execute a program to acquire an image captured by a camera mounted in a vehicle, estimate a first position indicating a position of the vehicle and an error of the first position based on information indicating a traveling state of the vehicle, estimate a second position indicating the position of the vehicle and an error of the second position based on radio waves transmitted from artificial satellites, set position information of the vehicle preferentially using one position with a smaller error of the first position and the second position, and create a map of places in which the vehicle has traveled based on the set position information of the vehicle and the image.

公开(公告)号：US20230266145A1

公开(公告)日：2023-08-24

申请号：US17678381

申请日：2022-02-23

Applicant: FORD GLOBAL TECHNOLOGIES, LLC

Inventor： Stuart C. Salter ,  Brendan F. Diamond ,  Marguerite Kimball ,  Annette L. Huebner ,  John R. Van Wiemeersch

IPC: G01C21/00 ,  G06V20/58 ,  B60W60/00

CPC classification number: G01C21/387 ,  G06V20/58 ,  B60W60/001 ,  B60W2554/4041

Abstract: An autonomous vehicle operates in a Follow Mode, wherein an apparatus for controlling movement of a vehicle includes an exterior monitoring system comprising at least one sensor to monitor an exterior region and to detect a location of a target user. A controller is configured to A) interactively map an activity zone having a selected expanse in the exterior region relative to the vehicle, B) compare a monitored location of the target user to the activity zone, C) detect a relocation event when the comparison of the monitored location of the target user to the activity zone exceeds a predetermined deviation, and D) send a navigation command in response to detecting the relocation event in order to autonomously reposition the vehicle so that a relative location of the target user is restored to the activity zone.

公开(公告)号：US11725962B2

公开(公告)日：2023-08-15

申请号：US17423758

申请日：2019-01-19

Applicant: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD.

Inventor： Tingbo Hou ,  Yanke Wang

IPC: G01C21/00 ,  G01C21/34

CPC classification number: G01C21/387 ,  G01C21/3461 ,  G01C21/3837

Abstract: Systems and methods involving obtaining point cloud data from one or more sources corresponding to one or more zones within a real-world space, the point cloud data representing surface features of structures detected within the one or more zones; defining a plurality of first-level nodes based on the point cloud data, individual first-level nodes corresponding to obtained point cloud data corresponding to individual zones of the one or more zones; identifying connections between two or more first-level nodes, the connections between the two or more first-level nodes based on connections between the point cloud data for the zones corresponding to the two or more first-level nodes; and defining a plurality of second-level nodes, individual second-level nodes corresponding to aggregated subsets of first-level nodes for which connections are identified.

公开(公告)号：US11719555B2

公开(公告)日：2023-08-08

申请号：US17475539

申请日：2021-09-15

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Keisuke Hokai ,  Yusuke Hayashi ,  Nobuhide Kamata

IPC: G06F16/29 ,  G01C21/00 ,  B60W30/095 ,  G06V20/58 ,  G06V20/56

CPC classification number: G01C21/387 ,  B60W30/0956 ,  G01C21/3815 ,  G06F16/29 ,  G06V20/584 ,  G06V20/588

Abstract: A map information system includes a database management device configured to manage a map database used for vehicle driving support control. The map database includes road marking map information that indicates a position of a specific road marking including at least one of a stop line and a pedestrian crossing. The database management device is further configured to: detect a road marking candidate being a candidate for the specific road marking around a vehicle; recognize vehicle behavior of at least one of the vehicle and another vehicle in a period when passing the road marking candidate; determine, based on the vehicle behavior, an evaluation value that indicates certainty of the road marking candidate being the specific road marking; and register the road marking candidate having the evaluation value equal to or higher than a threshold, as the specific road marking, in the road marking map information.

公开(公告)号：US20230228594A1

公开(公告)日：2023-07-20

申请号：US17576545

申请日：2022-01-14

Applicant: Argo Al, LLC

Inventor： Ryan WASKIEWICZ ,  Brad KRUPA ,  Mark Theodore TOMCZAK ,  Daniel Scott FITZPATRICK

IPC: G01C21/00 ,  B60W60/00

CPC classification number: G01C21/387 ,  B60W60/001 ,  G01C21/3837 ,  G01C21/3896

Abstract: Disclosed herein are system and method embodiments to implement a validation of a vector map. The validation process may merge proposed and persisted high-definition mapping data, evaluate the high-definition mapping data with a set of customizable validation rules, return/persist validation results, and provide a means to acknowledge validation failures to minimize creation of problematic vector map content.

公开(公告)号：US20230221136A1

公开(公告)日：2023-07-13

申请号：US17574464

申请日：2022-01-12

Applicant: WOVEN ALPHA, INC.

Inventor： José Felix RODRIGUES

IPC: G01C21/00 ,  G06V20/13 ,  G06V20/10

CPC classification number: G01C21/3822 ,  G01C21/387 ,  G01C21/3852 ,  G01C21/3885 ,  G06V20/13 ,  G06V20/182

Abstract: A method of generating a roadway map includes receiving an image of a roadway. The method further includes identifying features in the roadway. The method further includes assigning a feature identification (FID) number to each of the identified features. The method further includes generating a score for each of the identified features based on a comparison between the identified features and a corresponding feature having a same FID number from a previously generated roadway map. The method further includes determining whether each of the identified features have changed based on whether the corresponding score exceeds a predetermined threshold. The method further includes updating the roadway map by changing identified features determined to have changed and maintaining identified features determined to have remain unchanged.