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公开(公告)号：US20240263961A1
公开(公告)日：2024-08-08
申请号：US18603018
申请日：2024-03-12
IPC分类号： G01C21/00
CPC分类号： G01C21/3811 , G01C21/3848 , G01C21/3859 , G01C21/3867 , G01C21/3878 , G01C21/3881
摘要： The present disclosure generally relates to a methods and systems for compensating for changes in the absolute position of locations with respect to the Earth's surface which occur over time due to crustal dynamics. The invention is particularly, although not exclusively, concerned with such compensation in the context of methods using digital map data, for example, methods of localization of a vehicle.
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公开(公告)号：US20240263960A1
公开(公告)日：2024-08-08
申请号：US17801258
申请日：2021-02-19
CPC分类号： G01C21/3807 , B60W60/001 , G01C21/3841 , G01C21/3878 , B60W2556/20 , B60W2556/40
摘要： Disclosed herein is a technique for generating map change data relative to the current map data and providing these changes to an autonomous vehicle for use in updating the current map data that it retrieves or obtains from a local storage. The technique processes observation data received from other vehicles to determine the map change data.
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公开(公告)号：US20240200966A1
公开(公告)日：2024-06-20
申请号：US18068673
申请日：2022-12-20
申请人： THE BOEING COMPANY
CPC分类号： G01C21/3673 , G01C21/32 , G01C21/3807 , G01C21/3878
摘要： A device includes one or more processors configured to perform one or more first deconfliction operations, for a first map layer, to determine first candidate label locations of first labels that identify first map locations. The one or more processors are also configured to perform one or more second deconfliction operations, for a second map layer, to determine first candidate label locations of second labels that identify second map locations. The one or more processors are further configured to perform one or more third deconfliction operations, for the first map layer and the second map layer, to determine an updated candidate label location of at least one of the first labels, an updated candidate label location of at least one of the second labels, or both.
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公开(公告)号：US11965752B2
公开(公告)日：2024-04-23
申请号：US17761513
申请日：2020-09-25
IPC分类号： G01C21/00
CPC分类号： G01C21/3811 , G01C21/3848 , G01C21/3859 , G01C21/3867 , G01C21/3878 , G01C21/3881
摘要： The present disclosure generally relates to a methods and systems for compensating for changes in the absolute position of locations with respect to the Earth's surface which occur over time due to crustal dynamics. The invention is particularly, although not exclusively, concerned with such compensation in the context of methods using digital map data, for example, methods of localization of a vehicle.
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公开(公告)号：US20240068836A1
公开(公告)日：2024-02-29
申请号：US17821898
申请日：2022-08-24
发明人： Bo Yu , Joon Hwang , Gui Chen , Carl P. Darukhanavala , Vivek Vijaya Kumar , Shu Chen , Donald K. Grimm , Fan Bai
IPC分类号： G01C21/00
CPC分类号： G01C21/3822 , G01C21/3841 , G01C21/3878
摘要： A method includes receiving sensor data from a plurality of sensors of a plurality of vehicles. The sensor data includes vehicle GPS data and sensed lane line data of the roadway. The method further includes creating a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data, fusing the plurality of the multi-layer bitmaps of each of the plurality of vehicles to create a fused multi-layer bitmap, creating a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmap, extracting lane line data from the plurality of multi-layer probability density bitmaps, and creating the high-definition (HD) map of the roadway using the multi-layer probability density bitmaps and the lane line data extracted from the plurality of multi-layer probability density bitmaps.
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公开(公告)号：US20230273047A1
公开(公告)日：2023-08-31
申请号：US17999770
申请日：2021-05-26
申请人： Robert Bosch GmbH
IPC分类号： G01C21/00
CPC分类号： G01C21/3878 , G01C21/3848 , G06V20/56
摘要： A method for providing a high-resolution digital map includes locating a device and providing sensor data at a located position during a test drive of the located device. The method further includes ascertaining detection indicators for at least one object detected based on the provided sensor data at the located position, and adding at least one additional layer to the high-resolution digital map. The at least one additional layer includes the ascertained detection indicators for the at least one detected object.
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公开(公告)号：US20230204383A1
公开(公告)日：2023-06-29
申请号：US18175713
申请日：2023-02-28
申请人： NVIDIA Corporation
发明人： Amir Akbarzadeh , David Nister , Ruchi Bhargava , Birgit Henke , Ivana Stojanovic , Yu Sheng
CPC分类号： G01C21/3841 , G01C21/1652 , G01C21/3811 , G01C21/3867 , G01C21/3878 , G01C21/3896 , G06N3/02
摘要： An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams – or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data – corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data – and ultimately a fused high definition (HD) map – that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.
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公开(公告)号：US20240328822A1
公开(公告)日：2024-10-03
申请号：US18619975
申请日：2024-03-28
申请人： ZENSEACT AB
发明人： Junsheng FU , Erik STENBORG , Gabriel GARCIA JAIME
CPC分类号： G01C21/3878 , B60W60/001 , G01C21/3815 , G01C21/3841 , G01C21/3896 , B60W2556/40 , B60W2556/65
摘要： A method for updating HD maps in view of real-world changes and for managing the ODD of the ADS accordingly are disclosed. A fleet of vehicles are used to automatically detect mismatches between the ADS's perceived environment and the HD map, when they occur. Once a sufficient number of production vehicles have reported a mismatch event—i.e., an instance of a mismatch between the perceived environment and the HD map—or once a sufficient number of mismatch events have been reported to a remote server for a specific geographical location or area of interest, the remote server transmits a confirmation of the “mismatch” associated with that specific geographical location or area of interest to the fleet of vehicles associated with the remote server. Thereby the vehicles may configure an ODD exit for the ADS at that specific geographical location or area of interest.
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公开(公告)号：US20240219199A1
公开(公告)日：2024-07-04
申请号：US18512780
申请日：2023-11-17
发明人： Mandar Narsinh KULKARNI , Muryong KIM , Jubin JOSE
IPC分类号： G01C21/00
CPC分类号： G01C21/3848 , G01C21/3841 , G01C21/3878
摘要： Techniques and systems are provided for vehicle localization. For instance, a process can include obtaining a point corresponding to a target in an environment, the point indicating a location of the target in the environment, and wherein the point is a non-semantic point for use with a non-semantic layer (NSL) of a map, obtaining pose information indicating a heading of a vehicle, generating a map point based on a quantization of the obtained point, and outputting the generated map point to a map server. For another instance, a process can include obtaining a NSL of a map of an environment, the NSL including a map point corresponding to a target in the environment, wherein the point is a non-semantic point; determining, based on a comparison between the pose information and the heading information, that the target is relevant to the vehicle; and transmitting the map point to the vehicle.
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10.发明公开公开(公告)号：US20230358562A1
公开(公告)日：2023-11-09
申请号：US18028517
申请日：2021-09-28
申请人： FIBER SENSE LIMITED
发明人： Mark Andrew ENGLUND
CPC分类号： G01C21/3833 , G01C21/3878 , G01C21/3807 , G01H9/004 , G01H9/002 , G06N3/08
摘要： Described herein is a fibre optic sensing method and system for generating a dynamic digital representation of a plurality of objects and associated zones in a geographic area. In general, the disclosed method and system comprises (a) generating a zone feature dataset, including identifying and classifying the associated zones in the area, each zone being classified into a zone type based on static and/or quasi-static zone features and having at least two object-sensed conditions; (b) generating an object tracking dataset, including tracking signals of at least some of the plurality of objects in the geographic area using a distributed fibre optic sensing network, and processing the tracking signals to obtain object-specific tracking data; (c) generating an event dataset, including using the tracking data to determine when the conditions of the zones are changing; digitizing and storing the changed conditions of the zones; and (d) rendering a dynamic representation of the conditions of the zones. The disclosed method and system may be useful to deduce, represent and monitor object type, tracks, events and states of static and/or quasi-static features of the geographic area in a dynamic real-time digital model of the geographic area.
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