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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
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).
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公开(公告)号：US11808581B2
公开(公告)日：2023-11-07
申请号：US16893522
申请日：2020-06-05
Applicant: ZENUITY AB
Inventor： Anders Hansson , Roza Maghsood , Eliza Nordén , Ellen Korsberg
CPC classification number: G01C21/32 , B60W60/001 , G05D1/0214 , G06V20/588 , B60W2520/10 , B60W2520/12 , B60W2520/14 , B60W2552/53 , B60W2556/40 , G05D1/027 , G05D2201/0213
Abstract: The present disclosure relates to lane-level map matching for a vehicle. The method includes receiving vehicle data including a geographical position of the vehicle, a heading of the vehicle, and a speed of the vehicle and receiving sensor data from a perception system of the vehicle. The sensor data includes information about a position of at least one road reference in a surrounding environment of the vehicle. Operations include receiving map data including a lane geometry of the surrounding environment of the vehicle, the lane geometry including a set of candidate lanes. Operations include forming a state space model including a set of states. Each state of the set of states represents a candidate lane of the set of candidate lanes, and defining a cost for going from each state to every other state of the set of states based on the received vehicle data and the received sensor data.
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3.发明申请公开(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).
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