公开(公告)号：US11237005B2

公开(公告)日：2022-02-01

申请号：US16556508

申请日：2019-08-30

Applicant: ZENUITY AB

Inventor： Tony Gustafsson ,  Joakim Sörstedt ,  Erik Stenborg ,  Mats Kvarnström ,  Roza Maghsood ,  Andreas Löfman ,  Linlin Guo

IPC: G01C21/32 ,  G01S17/89 ,  G01S13/89 ,  G01S19/51 ,  G01S19/47 ,  H04L29/08 ,  G01S19/49 ,  G06F17/00

Abstract: Described herein is a method and arrangement (11) for sourcing of location information, generating and updating maps (16) representing the location. From at least two road vehicle (12) passages at the location is obtained (1, 2) vehicle registered data on the surrounding environment from environment sensors and positioning data from consumer-grade satellite positioning arrangements and from at least one of an inertial measurement unit and a wheel speed sensor. The positioning data is smoothed (3) to establish continuous trajectories for the respective vehicles (12). Individual surrounding environment maps are created using the data from each respective vehicle (12) passage at the location. From the individual surrounding environment maps are identified submaps (15) sharing area segments. Pairs of submaps (15) sharing area segments are cross-correlated (6). The information from the pairwise cross-correlation (6) of submaps (15) is used for optimizing each submaps (15) offset relative a full map (16) of the surrounding environment and the submaps (15) are merged into the full map (16).

公开(公告)号：US20200072620A1

公开(公告)日：2020-03-05

申请号：US16556508

申请日：2019-08-30

Applicant: ZENUITY AB

Inventor： Tony Gustafsson ,  Joakim Sörstedt ,  Erik Stenborg ,  Mats Kvarnström ,  Roza Maghsood ,  Andreas Löfman ,  Linlin Guo

IPC: G01C21/32

Abstract: Described herein is a method and arrangement (11) for sourcing of location information, generating and updating maps (16) representing the location. From at least two road vehicle (12) passages at the location is obtained (1, 2) vehicle registered data on the surrounding environment from environment sensors and positioning data from consumer-grade satellite positioning arrangements and from at least one of an inertial measurement unit and a wheel speed sensor. The positioning data is smoothed (3) to establish continuous trajectories for the respective vehicles (12). Individual surrounding environment maps are created using the data from each respective vehicle (12) passage at the location. From the individual surrounding environment maps are identified submaps (15) sharing area segments. Pairs of submaps (15) sharing area segments are cross-correlated (6). The information from the pairwise cross-correlation (6) of submaps (15) is used for optimizing each submaps (15) offset relative a full map (16) of the surrounding environment and the submaps (15) are merged into the full map (16).