CN102997926B - A kind of method for obtaining navigation data - Google Patents
A kind of method for obtaining navigation data Download PDFInfo
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- CN102997926B CN102997926B CN201210337698.7A CN201210337698A CN102997926B CN 102997926 B CN102997926 B CN 102997926B CN 201210337698 A CN201210337698 A CN 201210337698A CN 102997926 B CN102997926 B CN 102997926B
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- sensor
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3822—Road feature data, e.g. slope data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3848—Data obtained from both position sensors and additional sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a kind of computing unit, a kind of computer program product and a kind of method for obtaining navigation data, wherein vehicle obtains the feature of street and/or environment by means of sensor, and wherein vehicle determines the position of feature, wherein using the position of feature and feature is as the additional information storage of navigation data or transmits to outside computing unit.
Description
Technical field
The present invention relates to a kind of method for obtaining navigation data and a kind of computing unit.
Background technology
The various databases for providing the navigation data of vehicle well known in the art.
The content of the invention
Task of the invention is to provide a kind of method for obtaining navigation data.The task will be by according to the present invention
Method and computing unit of the invention solve.
The advantage of the method is：Navigation by vehicle collection additional information and for vehicle provides the additional information.This will
It is achieved in, i.e., vehicle obtains feature and the position of determination this feature of street and/or environment by means of sensor.Acquired
The position of feature and acquired feature will store as the additional information of navigation data and/or transmit to outside calculating list
Unit.Additional information is obtained in this way, and position of the vehicle relative to this feature is can determine by means of those additional informations
Put.The position of such as vehicle is more accurately determined thus, it is possible to the feature acquired in basis.
In another embodiment, position of the feature relative to the useful information of navigation data is determined.This feature it is relative
Position will be stored as a part for additional information.Thus storage feature is relative to the useful information of the navigation data for having stored
Relative position is feasible.Thus in the case where feature is identified, the useful relative to navigation data of vehicle can be calculated
The relative position of information.
In another embodiment, usually obtained the position of features and this feature and incited somebody to action acquired by one or many vehicles
Position average value as this feature position store.The more accurately position of feature is determined and stored in this way.
In another embodiment, the sensor for obtaining feature is associated with identification information, in addition to additional information also
Store the identification information.More accurately analyzed in the case where the identification information is considered thus, it is possible to for example be based on the identification information
The position of feature and/or feature.For example, only the position of the feature obtained by identification information identical sensor and feature is used for
The average value of construction location.
In another embodiment, additional information will be transmitted to outside computing unit by vehicle.Outside calculating list
Unit can for example be built into other vehicles or be configured to the computing unit of static state.Additionally, the static computing unit
Additional information can be transmitted to vehicle.By means of the method can with other vehicles or with static computing unit clearing house
The feature of acquisition and/or position.Thus, it is possible to sharing information and can be by many vehicle use informations.
In another embodiment, performed to the average of position in static computing unit or relative position is put down
, wherein the static computing unit transmits to vehicle average position again.Thus, it is possible in outer portion computing unit
Implement the very big method of amount of calculation.Additionally, the computing unit of outside is it can be considered that feature for example as acquired in different vehicles
Position or relative position.When known to the identification information of sensor, enable in particular to consider the feature from different sensors
Or position.Based on the identification information for example it can be considered that the relative position of sensor on vehicle or different retrievable spies
Levy.
In another embodiment, computing unit is based on identification information determination on identification information identical sensor
The average value of position and/or the computing unit are based on multiple identification informations and consider fiducial value, so as to consider identification information not
The position of same sensor.
In another embodiment, traffic mark and/or runway geometry are used as useful information.Thus, it is possible to
Acquired relative position of the feature relative to the useful information of enough storages.
In another embodiment, for example by the such as crack on runway surface, pitch spot, the ditch for street drainage
The road surface feature identification of gully is characterized.
The environmental information of such as trees, house or other contingency elements can be used as additional feature.
It is an advantage of the current invention that being come from by the central computing unit reception such as to be configured to form server
The data of different vehicles, for example to be produced the map or additional information of higher quality by means of data aggregation.Herein can be by
Different vehicle with different sensors obtains the feature of runway and/or environment, and considers this feature to improve positioning.
Herein by using vehicle and sensor data to be assembled, with the data quality for realizing improving.Here, can be stored separately
And separate or analyze with being associated with each other and consider the feature of different sensor types or the identical sensing of different vehicles
The feature of device.It is achieved in improving the quality of data for identification feature.
Brief description of the drawings
The present invention below will be with reference to the accompanying drawings expanded on further.Wherein：
Fig. 1 shows the schematic diagram at the visual angle of driver；
Fig. 2 shows the schematic diagram of the basic framework for transmitting navigation data.
Specific embodiment
Fig. 1 shows the schematic diagram of the typical Driving Scene of the windshield 1 from the transmission vehicle at the visual angle of driver.
Be illustrated that positioned at vehicle front, with two runways 10 in separate track 11,12.Vehicle is equipped with sensing system
4, the sensing system can be configured to the form of such as video sensing device.Can be obtained by means of the sensing system 4
With measurement such as runway boundary marker 15,16.Such as bend curvature is can determine by means of the sensing system 4.Video is passed
Another applicable cases of sensor system are probably the visual identity of traffic mark 17, and the traffic mark is, for example, with speed limit
The traffic mark of system.Additionally, vehicle is equipped with the steering wheel 2 with steering angle sensor and the navigation system with GPS location
System 8.Bend curvature is can determine again by the steering angle sensor.Furthermore it is possible to pass through to track GPS track determine it is such as curved
The runway geometry of road curvature.The useful information that the bend curvature representation of bend is obtained by vehicle.
Therefore, navigation system 8 for example includes corresponding software and corresponding data storage.Furthermore it is possible to set calculating
Unit 18, it is connected with sensor, sensing system and navigation system 8 and analyzes and/or store by sensor or sensing
Useful information acquired in device system.By in combination using multiple sensing systems and/or sensor, such as video system,
Steering angle sensor, GPS track, can well obtain vehicle movement such that it is able to accurately describe vehicle along runway
Motion.Additional analysis can be carried out when needed, for example, carry out position of the vehicle in runway by means of video sensor
Determination is put, so as to recognize taking a shortcut for such as bend.In order to further improve system, additionally it is possible to use other sensors, example
Such as rotational speed sensor or acceleration transducer.
The vehicle equipped in this way can be used in being enriched with other useful informations the navigation of such as navigation map
Data.Can obtain such as geological information on streets direction as useful information, especially accurate bend geometry,
The actually used motion bend of vehicle, i.e., the bend taken a shortcut or cross in the early time, defined location in bend section
Bend speed.It is furthermore possible to obtain the object of street edge, such as traffic mark, traffic lights, turnout, crossroad or building
The accurate position of thing.
The improvement of system can be reached by receiving the information on the one or many multiple traveling of car, and in like fashion
Aggregation data, i.e., constantly learn and constantly improve data.For example, in the geometry letter of aggregation position, street curvature etc.
In the case of the data of breath, the average value of acquired different data can be constructed.So can be by many individual repetitions
Traveling more accurately obtains the geometry of such as bend.In addition to the digital map of navigation system 8, the bend it is more smart
True position and/or more accurately move towards can be also stored among the local data base within the navigation system 8 of vehicle.Vehicle
More continually by the place of certain determination, the information assembled is better.In a similar manner also can be in vehicle or static state
Collected among computing unit, analyzed and for example assemble the data from different vehicle.Enable in particular to calculate and store on being received
The average value of the data of collection, especially with respect to the average value of geometric data (such as position or trend).Outside computing unit or car
The data that computing unit in will can be assembled are available to other vehicles.
In addition to obtaining and improving useful data, the additional information for collecting useful data is also advantageous.The additional letter
Breath is, for example, the retrievable feature of environment and the position of this feature from vehicle.Research shows there is substantial amounts of characteristic feature, this
A little features can be obtained by sensor and these features do not change its position.These features can be the characteristic in street, such as line
Reason, crack, color, roughness, it is also possible to be the part in street, such as mark, street well lid, the fence of gully.
Additionally, this feature also can be natural element, such as trees, shrub, rock.Additionally, this feature also can be building
Or module, such as electric pole, traffic lights.
Basic conception of the invention is：By means of additional information acquisition improve for the guiding of vehicle, information and/or
The database of navigation.
The inaccuracy of the GPS location of the self-position of vehicle can be for example corrected by means of additional information.Based on being obtained
The feature for taking relative to useful information relative position, vehicle can obtain this feature in the case of, more accurately determine it
Relative to the relative position of useful information.
Can be the runway of vehicle and/or the feature of environment by the feature recognition in runway surface or environment.Herein,
For example can by means of vehicle video system obtain about color structure, the pitch spot 6 of driveway surface of being for example expert at or
Crack 7 or the other retrievable structure of runway and/or environment.Used additionally, can for example be recognized by means of video system
In the street inlet for stom water 5 of street drainage.Additionally, additionally or alternatively street rainwater can be obtained by means of radar sensor
Mouthful, because the street inlet for stom water is made up of iron and iron influences the signal of sensor in which can characterize.Therefore, can be by radar sensor
Sign signal identification street inlet for stom water.In a similar manner, it is also possible to by accumulation (such as iron in street of other iron
Equipment or bridge) obtain as feature.Additionally, vehicle for example can determine and store by means of navigation system and GPS location
The absolute position of known another characteristic.Additionally, vehicle can store institute's identification feature relative in navigation system store
The relative position of useful information (such as traffic marking board or building or street corner or bend intermediate point).
In addition additionally storage is directed to the identification information of sensor used, for obtaining feature.The identification information
For example it is capable of the information of the installation site including the sensor in type and/or vehicle on sensor.Thus, it is possible to for example
Calculate relative distance of the sensor relative to the GPS positioning device of vehicle such that it is able to more accurately determine acquired feature
Absolute and relative position.Additionally, being capable of identify that be characterized in as acquired in which kind of sensor type based on the identification information
's.Thus can for example mark and analyze the feature of same or similar sensor together.It is furthermore possible to separate place's reason not
Feature acquired in same sensor.Precision thus, it is possible to improve the method.
Another design of the invention is to collect and analyze multiple on such as one car or different vehicles
The information of traveling.For example can center computing unit in storage, analysis information, i.e. additional information, and it is transmitted again to
Vehicle.
Fig. 2 shows the system for being carried out middle ground collection data as other computing units 19 by means of server
Schematic diagram.Vehicle 13 is crossed a certain section and the absolute position of additional information, i.e. feature and feature is recorded by means of sensing system 4
Put or feature relative to known useful information relative position, useful information is, for example, the thing with known local position
Body.This feature for example can also be traffic mark, such as by means of the traffic mark of video sensing device identification.It is furthermore possible to obtain
Runway geometry is taken as feature, such as recognizable structure of vision or the element describing on the runway surface runway are several
What shape.
Relative position of the vehicle 13 by the feature as acquired in vehicle and the position of feature or feature relative to useful information
Transmitted by interface 20 to the computing unit 19 in center, the central computing unit equally includes second interface 21.In the center
Computing unit 19 in, collect the additional information from different vehicles, and by means of data aggregation compress these additional informations.
If for example, having holded up one piece of new traffic mark, the traffic mark is not yet stored as useful information, then the traffic mark is same
Sample can represent the feature of additional information.It is erected at traffic mark (speed limit 60km/h) before bend.The curvature of bend has peak point,
Reason for safety does not allow traveling to be faster than 60km/h at the peak point.Traffic mark (60km/h) and the song with restriction
The bend geometry of rate represents useful information.Meanwhile, " useful information traffic mark " can also act as having relative to bend
The feature of the relative position (such as 120 meters) of the peak point of maximum curvature.As long as video sensor detects traffic mark, then
Just there is known the accurate position of peak point of the vehicle relative to the bend with the curvature for determining.In this case, the friendship
Logical mark both can serve as useful information (for the function of such as speed precaution device), can serve as again for determining before bend
Relative position feature.
In another form of implementation, passed when many vehicle identifications to same traffic mark and by position or relative position
When transporting to computing unit 19, for example, the traffic mark information for determining very much can be realized, it has the accurate of the traffic mark
Position data.For example vehicle can obtain traffic mark and by traffic mark and traffic mark by means of different video sensor
Location transmission to computing unit.Therefore, video sensor exemplarily includes image-recognizing method, by means of the image recognition
Method is capable of identify that the species of the traffic mark.
Exemplarily can be by means of image-recognizing method traffic mark of the identification with 60km/h rate limitations.For example,
If 18 vehicle identifications are to the rate limitation of 60km/h, and only two vehicles recognize the rate limitation of 90km/h, then
The analysis that computing unit can be based on statistics thereby determines that the rate limitation that the traffic mark board as acquired in vehicle is represented is
60km/h.The information can again be sent to vehicle.Thus, once recognizing the vehicle of the traffic mark for making mistake can also sail next time
The out-of-date traffic signboard for recognizing that the rate limitation is 60km/h based on the information provided by computing unit, although the video of vehicle
Sensor has perhaps been damaged.
Center computing unit 19 in, for example can sensor-based identification information recognize whether some vehicles include
High-precision sensor.Thus, for example when data are assembled, preferably consider or considered with high-precision with Factors Weighting
The data of sensor.
Exemplarily, absolute and/or relative position the average value of acquired feature can constitute data aggregation.For example
If there is the data from inferior sensor and the data from quality sensor very high, then for example can only make
It is for example to store the absolute position of feature or the relative position of feature and it is defeated again with the data of quality sensor very high
Go out to vehicle.
Exemplarily, there are the vehicles of different video sensors when many by traffic mark and by acquired feature
When reporting the computing unit 19 to center with position or relative position, the reliable friendship with better position quality can be realized
Logical identification information.High-precision runway geometry, such as bend can be equally obtained in this way.It is this by example
Property ground obtain many vehicles same place exercise data.For example can by such as video sensor, steering angle sensor and
The sensor of gps system obtains exercise data in the form of such as curve movement.Can be bent by means of data aggregation compression motion
Line, for example, constitute average value.Therefore, central computing unit 19 can obtain valuable and high-precision on vehicle periphery
The information of environment and transmit it to vehicle.
Thus vehicle can show miscellaneous function and consider the information that will be provided in order to such as perspective.The information energy
Enough it is such as traffic mark information or runway geometry.Therefore, vehicle can from center computing unit 19 and/or from its
The information of position of his vehicle receiver on feature and feature.Vehicle can be combined this information with to local navigation ground
Figure.Known method, such as map match can be used herein.Due to numeral map inexactness and GPS location it is not smart
True property, can be by means of the data for additionally obtaining, i.e., the improvement of acquired feature and its position realization positioning.
For many miscellaneous functions, there is the demand of the position of positioning vehicle as accurately as possible, such as too quickly
Automatic brake hard before the bend of traveling.Therefore, for example can to vehicle provide acquired feature and it is acquired with
The relative position of the relevant feature of bend peak point.Exemplarily, this feature can be the crack on runway surface, runway table
The pitch spot or runway in face or other structures of environment, such as draining inlet for stom water.Therefore, vehicle is obtaining stored spy
In the case of levying can than more accurately or earlier being calculated by means of traditional navigation data to the distance of bend peak point, and
Brake hard behavior is for example automatically introduced into earlier and/or more rightly.Therefore, vehicle possesses corresponding computing unit 18 and phase
The control unit answered, the control unit participates in Vehicular system, such as engine, clutch, brake.
These features can be used in storing the position of useful data, and useful data is, for example, the friendship of the position relative to feature
Logical mark or street geometry.Vehicle stores feature, acquired feature and useful letter in the data storage of its own
Relative distance between breath (such as identified traffic mark).Vehicle by feature, acquired feature and useful information (for example
The traffic mark for being recognized) between relative distance transmit to outside computing unit 19.Outside computing unit 19 believes this
Breath is pass on to other vehicles, so that travelling the identical section on the runway afterwards and recognize for example
The vehicle in the crack in runway can additionally use the information, i.e., exist with 60km/h rate limitations at 20m
Traffic mark.
In this way, follow-up vehicle can carry out its current location relative to useful letter using the additional information
The high-precision positioning of breath.Therefore, the information transfer on feature and its position that will preferably be assembled is to vehicle.Follow-up
Vehicle is based on its navigation preview by means of GPS location and the visual field of exemplary electronics, identifies it close to useful information (such as
Traffic mark or the runway geometry of determination).The information also relative coarseness.When the sensing device of vehicle is known in its environment
It is clipped to feature, then its relative distance between known another characteristic and useful information that can be based on being transmitted determines vehicle
It is also how far apart from useful information.Can driver assistance system be activated in time for example to reduce speed in this way.
Also can happens is that, different vehicles are deformed using different sensors.Therefore, according to the difference of manufacturer,
The video sensor of identifying rows lane boundary can have image resolution ratio higher or relatively low.The sensitivity of brightness or color
Sensitivity can be different.Feature, such as crack, pitch spot, mark can be obtained using the deformation of all of sensor
Know board etc..Here, the signal as acquired in sensor very can differently be drawn.For radar or laser radar sensor
It is as the same.Analogously it is possible to radar or laser radar sensor are used to recognize the object of surrounding, but in identification feature, this
The signal of a little sensors can be very different, and depend particularly on resolution ratio, visual angle and the technology for being used.Extreme
In the case of, vehicle obtains feature using the video sensor (such as in the form of traffic mark camera) for disposing forward.Its
His vehicle for example can obtain feature using the video sensor (backup camera) for disposing backward.Acquired feature,
I.e. the signal of sensor by because different cameras, different objects, different visual angles and/or different installation sites without
Together.Therefore, another design is devised：Sensor for obtaining feature also includes sensor information, i.e., on it certainly
The identification information of body, it is also stored in the computing unit of outside.Therefore, outside computing unit can store different biographies
The control signal of the acquired feature of sensor deformation, and by sensor identification information come mark sensor signal.Set at this
In meter scheme, follow-up vehicle for example may send its sensor information to the server in center, and afterwards except useful data,
Sensor signal is only obtained as the reflection to feature and its position, the sensor signal is deformed by the sensor that vehicle also possesses
It is produced.
Thus, it is possible to select to transmit data to vehicle from computing unit and during it to be correspondingly matched to vehicle it is existing
Sensing system.The transmission of unnecessary data is avoided in this way.
Additionally, computing unit 19 is also capable of the sensor signal of average identical sensor, to obtain for feature most
Excellent sensor signal.Also can replace averagely improving sensor signal using other kinds of method.Thus, it is possible to optimize
Sensor signal, and improve the identification to same feature from there through another car.
Computing unit 19 transmits data, the data especially assembled, the i.e. feature of such as determination to other vehicles 14
Vision signal and the determination feature position.Other vehicles 14 for example obtain vision signal by means of video frequency pick-up head.
Vehicle by acquired vision signal with it is being stored and compared by the vision signal that computing unit 19 is transmitted.According to such
Compare, whether both vehicle identifications are same vision signal.Thus, vehicle can be by the position of the feature being consistent with vision signal
Or relative position is used to guide vehicle.Vehicle for example identifies according to additional information, to knowing the distance that another characteristic determines
Place's placement useful signal, such as traffic mark.Distance thus, it is possible to be accurately determined vehicle to traffic mark.
The method is not rely on the species of used sensor.Additionally, computing unit 19 can use different biographies
The signal of sensor, with the identification of calibration feature.Exemplarily, vehicle can be obtained at defined location by video sensor
Street well lid and by the signal transmission of video sensor to computing unit 19.Additionally, same or other vehicle are by means of it
His sensor, such as radar sensor, obtain the reflection that improves of the signal at defined location and transmit it to meter
Calculate unit 19.Computing unit 19 is based on the characteristic feature that the signal identification of different sensors exists at defined location.By
This improves the security of feature recognition.
Claims (10)
1. a kind of method for obtaining navigation data, wherein vehicle obtain the feature of street and/or environment by means of sensor,
Wherein described vehicle determines the position of the feature, wherein,
Stored the position of the feature and the feature as the additional information of navigation data, except the additional information
External described vehicle in also store the identification information being associated with the sensor, and by means of the additional information and institute
Identification information is stated to correct the inaccuracy of the GPS location of the self-position of the vehicle；Or
Transmitted the position of the feature and the feature as the additional information of navigation data to outside computing unit,
Also the identification information being associated with the sensor is transmitted in addition to the additional information to the computing unit of the outside,
And the additional information can be stored in the computing unit of the outside, be analyzed by means of the identification information and will
It is transmitted to the vehicle again, and the self-position of the vehicle is corrected by means of the additional information so as to the vehicle
The inaccuracy of GPS location,
Wherein, the identification information includes the information of the species on the sensor and/or on the sensor described
The information of position or placement orientation in vehicle.
2. method according to claim 1, wherein the phase of the useful information by the feature relative to the navigation data
Be defined as the position of the feature to position, and using the relative position as the part storage of the additional information and/or
Transmission.
3. method according to any one of the preceding claims, wherein generally obtaining the features by or many vehicles
With the position, and wherein using the average value of acquired position as position store.
4. method according to claim 2, wherein being transmitted to outside calculating list the additional information by the vehicle
Unit, wherein the computing unit of the outside is placed in another vehicle or is configured to the computing unit of static state.
5. method according to claim 4, wherein being performed to the average of the position in the static computing unit
And/or to the average of the relative position, and wherein described static computing unit is by average position and/or average
Relative position and/or average geological information are transmitted to vehicle.
6. method according to claim 4, wherein the computing unit is based on the identification information to determine to believe on mark
The average value and/or wherein described computing unit of the position of sensor described in breath identical are for multiple identification information identifications
Value, so as to relatively assess the position of the sensors different with identification information on average traffic.
7. method according to claim 2, wherein traffic mark and/or runway geometry are used as into useful information.
8. a kind of computing unit of vehicle, it is configured to perform the method according to any one in claim 1-7.
9. a kind of outside computing unit, it is configured to the street as acquired in the vehicle by means of sensor from vehicle receiver
And/or feature and the position of the feature as acquired in the vehicle of environment, wherein, the computing unit be configured to by
The position of the feature and the feature stores as additional information, and the calculating in addition to the additional information
Unit also stores and/or receives the identification information being associated with the sensor, wherein the identification information is included on described
The information of the information of the species of sensor and/or the position on the sensor in the vehicle or placement orientation, wherein,
The computing unit is also structured to analyze the additional information by means of the identification information and pass the additional information again
Transport to the vehicle.
10. outside computing unit according to claim 9, wherein the computing unit is configured to the same of average many cars
Simultaneously transmit again to vehicle the position of the same feature of multiple measurements of the position of one feature and/or same vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011082379A DE102011082379A1 (en) | 2011-09-08 | 2011-09-08 | Method for detecting navigation data for navigating vehicle, involves storing feature and position of feature as additional information to navigation data, or transmitting additional information to external processing unit |
| DE102011082379.4 | 2011-09-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102997926A CN102997926A (en) | 2013-03-27 |
| CN102997926B true CN102997926B (en) | 2017-06-16 |
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ID=47739901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210337698.7A Active CN102997926B (en) | 2011-09-08 | 2012-09-06 | A kind of method for obtaining navigation data |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN102997926B (en) |
| DE (1) | DE102011082379A1 (en) |
| FR (1) | FR2979987B1 (en) |
| IT (1) | ITMI20121443A1 (en) |
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| ITMI20121443A1 (en) | 2013-03-09 |
| FR2979987A1 (en) | 2013-03-15 |
| CN102997926A (en) | 2013-03-27 |
| DE102011082379A1 (en) | 2013-03-14 |
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