CN107063275A - Intelligent vehicle map emerging system and method based on roadside device - Google Patents
Intelligent vehicle map emerging system and method based on roadside device Download PDFInfo
- Publication number
- CN107063275A CN107063275A CN201710182832.3A CN201710182832A CN107063275A CN 107063275 A CN107063275 A CN 107063275A CN 201710182832 A CN201710182832 A CN 201710182832A CN 107063275 A CN107063275 A CN 107063275A
- Authority
- CN
- China
- Prior art keywords
- map
- vehicle
- roadside device
- local
- fusion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Abstract
A kind of intelligent vehicle map emerging system based on roadside device and method is claimed in the present invention, and system includes mobile unit and roadside device.Mobile unit includes vehicle location, ADAS map interfaces, local map generation, DSRC communications and map modular converter, and roadside device includes DSRC communications and map Fusion Module.Mobile unit vehicle localization module detects main truck position and posture；ADAS map interfaces module provides road Id information；Local map generation module generates main car current location local map；DSRC communication modules realize that vehicle is interacted with roadside device；Map modular converter is transformed into main car coordinate system by map is merged.Each vehicle local map that DSRC communication modules are received is transformed into roadside device coordinate system and merged by roadside device map Fusion Module.The present invention realizes that many vehicle perceptions are shared to extend environment sensing range, can improve intelligent vehicle auxiliary driving/automatic Pilot performance.
Description
Technical field
The invention belongs to automate, Communications And Computer technical field, and in particular to a kind of intelligence based on roadside device
Vehicle map emerging system and method.
Background technology
Environment sensing is one of key technology of intelligent vehicle with map generation, and peace is driven in order to improve intelligent vehicle auxiliary
Full early warning and the performance of automatic Pilot path planning, intelligent vehicle are needed with environment sensing scope as big as possible, but tradition
Typically the onboard sensor of vehicle in itself is relied only in method so that the perception of vehicle is extremely limited.
Chinese patent application：A kind of intelligent guidance system (application number：CN200710064151.3 a kind of utilization) is disclosed
Server end sends real-time transport information to vehicular client and gives user's programme path, and this method is real using Network Capture traffic
Condition carries out programme path, and many vehicle real-time maps fusions are not related to.Chinese patent application：It is a kind of based on bus or train route coordination technique
Vehicular virtual road condition shows system (application number：CN201610034923.8 one kind) is disclosed to obtain using information interaction system
Information of vehicles and du vehicule road conditions are taken, system display information is shown using Vehicular virtual, this method uses roadside device
The vehicle and road information received is integrated in processing, and many vehicle real-time map fusions are not related to, different roads are also not different.In
State's patent application：Drive assist system (application number based on ADAS：CN201511008743.4) disclose one kind and use high in the clouds
The environmental information for gathering mobile unit collection generates safe map, and many vehicle real-time map fusions are not related to, are not different not yet
Same road.Chinese patent application：ADASIS extension information output apparatus and method (application number based on safe driving map：
CN201510496628.X the extension that a kind of utilization ADASIS extensions information enters row information to safe driving map) is disclosed, should
Method only uses the extension information of single unit vehicle current location, does not account for many information of vehicles fusions and the association with roadside device
Together.Chinese patent application：Drive assist system (application number based on ADAS：CN201511010294.7) one kind is disclosed to be based on
ADAS drive assist system, the system realizes that the sensor information between different vehicle is interacted by inter-vehicle communication technology, solution
The problem of certainly vehicle safety early warning range is limited by onboard sensor detection range.The system is not carried out to the relevance of vehicle
Difference, does not account for cooperateing with roadside device.
The present invention is directed to pass when existing intelligent vehicle environment sensing limited ability, many information of vehicles are merged not to vehicle
The problem of connection property is distinguished, it is proposed that a kind of intelligent vehicle map emerging system and method based on roadside device.It is at this
In system, roadside device receives the local map information of multiple vehicles in communication range by DSRC, by vehicle according to affiliated road
Classify and merge, generate the fusion map of each bar road and feed back to each vehicle, so that intelligent vehicle environment sensing scope is extended,
It is favorably improved intelligent vehicle auxiliary driving/automatic Pilot performance.
The content of the invention
The deficiency of the present invention existing invention for more than, is passed to solve existing intelligent vehicle environment sensing ability by vehicle-mounted
The problem of not distinguished when the limiting of sensor, the fusion of many information of vehicles to the relevance of vehicle, it is proposed that a kind of based on road
The intelligent vehicle map emerging system and method for side apparatus effectively to extend intelligent vehicle environment sensing ability, improve intelligent vehicle
Aid in driving/automatic Pilot performance.
Technical scheme is as follows：
A kind of intelligent vehicle map emerging system based on roadside device, it includes：Mobile unit and roadside device two
Point.Wherein described mobile unit include vehicle localization module, ADAS (Advanced Driver Assistance Systems,
Senior Officer's accessory system) map interface module, local map generation module, vehicle DSRC (Dedicated Short
Range Communications, special short-distance wireless communication) communication module and map modular converter, the roadside device includes
Trackside DSRC communication modules and map Fusion Module.
Wherein, mobile unit part：The vehicle localization module, for obtaining main car in geography by mobile satellite location equipment
Position and attitude information under coordinate system；The ADAS map interfaces module, for the vehicle provided according to vehicle localization module
Position, obtains the road Id numberings of main car current location from ADAS map data bases；The local map generation module, is used for
Main car surrounding environment is detected by onboard sensor, according to sensor measurement data, the corresponding part in main car current location is generated
Map；The vehicle DSRC communication modules, for issuing position of main car current time, posture, vehicle present road Id and office
Portion's map, while receiving roadside device position, posture and the fusion consistent with main car present road Id of roadside device issue
Map；The map modular converter, for fusion map to be transformed into main car coordinate system.
Roadside device part：The trackside DSRC communication modules, for receiving in communication range around roadside device
Vehicle location, posture, place road Id and the corresponding local map of each vehicle issue, and issue roadside device current location,
Posture and map Fusion Module merge the fusion map obtained after each vehicle local map；The map Fusion Module, is used for
Each vehicle local map that trackside DSRC communication modules are received is transformed into roadside device coordinate system, according to road Id to partly
Figure is classified, and the local map with same link Id is merged, and obtains the fusion map on each road.
Further, the vehicle localization module is gathered by mobile satellite location equipment and calculates main car in geographic coordinate system
Under position and posture.
Further, the local map form of the mobile unit local map generation module generation is grating map.Office
Portion's map is using current vehicle position as origin, and headstock direction is that y-axis is positive, and each grid of map is local with a vector representation
Cartographic representation is the matrix using lattice vector as element.
Further, in the mobile unit local map generation module, onboard sensor is detected and obtained around main car
The position of barrier (vehicle, pedestrian and other barriers) and dimension information in environment, in main car grating map coordinate system
The grid region that each barrier is covered is calculated, a full grid is not covered also by one raster symbol-base of covering, and will be capped
The trellis states could of grid region be set to occupy state.
Further, the fusion format map of the roadside device map Fusion Module is grating map.Fusion ground chart
It is shown as using roadside device position as origin, road normal direction is that y-axis is positive, and each grid of map is melted with a vector representation
It is the matrix using lattice vector as element to close cartographic representation.
A kind of roadside device intelligent vehicle map amalgamation method based on the system, it comprises the following steps：
(1) main truck position and attitude detection：In current time k, the vehicle localization module of main car mobile unit passes through satellite
Location equipment gathers and calculates position and posture of the k moment main car under geographic coordinate system；
(2) main car is currently located road determination：Mobile unit ADAS map interface modules are provided according to vehicle localization module
Main truck position, the road Id numberings Id of main car current location is obtained from ADAS map data basesk h；
(3) local map is generated：Onboard sensor gathers the observation data of main car ambient condition information, when generating main car k
The local grid map at quarter；
(4) main car information issue：Vehicle-mounted DSRC communication modules issue position of main car current time, posture, road Id numberings
And local grid map；
(5) roadside device information is received：The position of each vehicle issue of trackside DSRC communication modules reception, posture, road Id
Numbering and local grid map；
(6) map is merged：Each vehicle that roadside device map Fusion Module receives trackside DSRC communication modules is partly
Figure is converted to the local map under roadside device coordinate system；By road according to Id number class, and there will be same link Id to compile
Number local map sort out, each class local map is merged respectively, the fusion map on each road is obtained；
(7) map publishing is merged：The position of the current roadside device of trackside DSRC communication modules issue, posture, each road Id
Numbering and corresponding fusion map；
(8) vehicle equipment information is received：Vehicle-mounted DSRC communication modules receive the position of current roadside device and main car is worked as
Preceding road Id numbers consistent fusion map；
(9) main car map conversion：Mobile unit map modular converter is transformed into main car coordinate system by map is merged, and is led
Car merges map.
Further, the step of step (6) map is merged be：
(1) local map coordinate transform：Each vehicle local map that trackside DSRC communication modules are received is converted to trackside
Local map under device coordinate system；
(2) local map is classified：By road according to Id number class, and the local map that will be numbered with same link Id
Sorted out according to classification of road；
(3) map is merged：Each class local map is merged respectively, the fusion map on different roads is obtained, melts
It is normally：Grid fusion treatment is carried out according to "or" to overlapping region, splicing is carried out to Non-overlapping Domain.
Advantages of the present invention and have the beneficial effect that：
The present invention proposes a kind of intelligent vehicle map emerging system and method based on roadside device.DSRC is a kind of is adapted to
The two-way wireless communication technology of mobile target under high-speed motion, map emerging system proposed by the present invention is logical using roadside device
The local map information that DSRC communicators receive multiple vehicles in communication range is crossed, each vehicle is fed back to after fusion so that many
The shared of perception is realized between individual vehicle, intelligent vehicle environment sensing scope is extended；Secondly, by vehicle according to affiliated road
Road classification carries out the fusion map of each bar road of fusion generation respectively again, improves the efficiency and accuracy of map fusion；3rd,
The local map of each vehicle is merged and issued by roadside device, vehicle only needs to provide local map without having
Map Fusion Module, reduces the requirement of mobile unit.Innovation is with improving more than, and the present invention realizes many vehicles and perceives energy
Power is shared, and effectively extends intelligent vehicle environment sensing scope, has to improving intelligent vehicle auxiliary driving/automatic Pilot performance
Significance and use value.
Brief description of the drawings
Fig. 1 is that the present invention provides intelligent vehicle map emerging system general frame of the preferred embodiment based on roadside device；
Form and the coordinate system definition of Fig. 2 intelligent vehicle local maps of the present invention；
The form of Fig. 3 roadside device fusion maps of the present invention and coordinate system definition；
Intelligent vehicle map amalgamation method flow chart of Fig. 4 present invention based on roadside device；
Fig. 5 roadside device map amalgamation method flow charts of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, detailed
Carefully describe.Described embodiment is only a part of embodiment of the present invention.
The present invention solve above-mentioned technical problem technical scheme be：
As shown in Figure 1 to be proposed by the present invention a kind of based on roadside device intelligent vehicle map emerging system general frame.
The system can be divided into mobile unit and roadside device two parts, be communicated by DSRC.
Wherein, mobile unit includes vehicle localization module, ADAS map interfaces module, local map generation module, vehicle
DSRC communication modules and map modular converter；Roadside device includes trackside DSRC communication modules and map Fusion Module.
Mobile unit part：Vehicle localization module is used to obtain main car under geographic coordinate system by mobile satellite location equipment
Position and attitude information；ADAS map interfaces module is used for the vehicle location provided according to vehicle localization module, from ADAS maps
The road Id numberings of main car current location are obtained in database；Local map generation module, which is used to detect by onboard sensor, to be led
Car surrounding environment, according to sensor measurement data, generates the corresponding local map in main car current location；Vehicle DSRC communication modules
For issuing position of main car current time, posture, vehicle present road Id and local map, while receiving roadside device issue
Roadside device position, posture and the fusion map consistent with main car present road Id；Map modular converter is used for will fusion
Map is transformed into main car coordinate system.
Roadside device part：Trackside DSRC communication modules are used to receive each vehicle in communication range around roadside device
Vehicle location, posture, place road Id and the corresponding local map of issue, and issue roadside device current location, posture with
And map Fusion Module merges the fusion map obtained after each vehicle local map；Map Fusion Module is used to lead to trackside DSRC
Each vehicle local map that letter module is received is transformed into roadside device coordinate system, and local map is classified according to road Id,
Local map with same link Id is merged, the fusion map on each road is obtained.
2nd, form and the coordinate system definition of the intelligent vehicle mobile unit local map that the present invention is used are illustrated in figure 2.
Local map is expressed as using current vehicle position as origin, and headstock direction is that y-axis is positive, a length of L, a width of W rectangular area.Choosing
The element grid that specification is R*R is taken to turn to n*m (n=L/R, m=W/R) individual grid by local map is discrete, each grid uses one
Individual vector representation isLocal map is expressed as with lattice vectorFor the matrix of elementWhereinFor the coordinate at grid center, round numbers,For trellis states could,To occupy shape
State, represents there is barrier at the grid,Not occupy state.
When mobile unit local map is generated, onboard sensor detects and obtains barrier (car in main car surrounding environment
, pedestrian and other barriers) position and dimension information, in main car grating map coordinate system calculating each barrier is covered
The grid region of lid, a full grid is not covered also by one raster symbol-base of covering, and by the grid of capped grid region
State is set to occupy state,The local grid map of generation is
3rd, form and the coordinate system definition of roadside device fusion map of the present invention are illustrated in figure 3.Roadside device map melts
The fusion format map of matched moulds block is grating map.Map is merged using roadside device position as origin, road normal direction is y-axis
Forward direction, map lattice dimensions specification is R*R, and each grid is with a vector representationFusion ground chart
It is shown as with lattice vectorFor the matrix of elementWherein n ', m ' are the grid number of vertical, horizontal,For grid centre coordinate,For trellis states could,To occupy state, represent there is barrier at the grid,Not occupy state.
4th, the intelligent vehicle map amalgamation method flow chart of the invention based on roadside device, this method bag are illustrated in figure 4
Include following steps：
(1) main truck position and attitude detection：In current time k, the vehicle localization module of main car mobile unit passes through satellite
Location equipment gathers and calculates position of the k moment main car under geographic coordinate systemAnd postureIts
Middle posture is defined as vehicle heading and geographic coordinate system direct north angle；
(2) main car is currently located road determination：Mobile unit ADAS map interface modules are provided according to vehicle localization module
Main truck position, obtained from ADAS map data bases main car current location road Id numbering
(3) local map is generated：Onboard sensor gathers the observation data of main car ambient condition information, when generating main car k
The local grid map at quarter
(4) main car information issue：Vehicle-mounted DSRC communication modules issue position of main car current timePostureRoad
Id is numberedAnd local grid map
(5) roadside device information is received：Trackside DSRC communication modules receive the position of each vehicle issuePostureRoad Id is numberedAnd local grid map
(6) map is merged：Each vehicle that roadside device map Fusion Module receives trackside DSRC communication modules is partly
FigureBe converted to the local map under roadside device coordinate systemRoad is numbered according to IdIt is divided into
Ng classes Idg(j), 1≤j≤Ng, and the local map that will be numbered with same link IdAccording to Idg(j) it is divided into Ng
Class, is merged respectively to each class local map, obtains the fusion map on each road
(7) map publishing is merged：Trackside DSRC communication modules issue the position L of current roadside deviceg, posture Pg, each road
Id numberings IdgAnd corresponding fusion map (j)1≤j≤Ng；
(8) vehicle equipment information is received：Vehicle-mounted DSRC communication modules receive the position L of current roadside deviceg, posture PgAnd
Main car present road Id numberingsConsistent IdgAnd corresponding fusion map (j)It is designated as
(9) main car map conversion：Mobile unit map modular converter will merge mapMain car coordinate system is transformed into,
Obtain main car fusion map
5th, roadside device map amalgamation method flow chart of the present invention is illustrated in figure 5, this method comprises the following steps：
(1) local map coordinate transform：Each vehicle local map that trackside DSRC communication modules are receivedTurn
It is changed to the local map under roadside device coordinate system
A. vehicle axis system is calculated with roadside device coordinate system transformation parameter：According to vehicle i position
PostureAnd the position L of roadside deviceg, posture Pg, do not consider z-axis, calculate vehicle axis system and roadside device coordinate
Coordinate conversion parameter between system, including rotation parameter θ (i) and translation parameters Δ xk(i)、Δy(i)：
B. vehicle i local grid maps transform to roadside device coordinate system：According to rotation parameter θ (i) and translation parameters Δ
xk(i), Δ y (i), by vehicle i local grid mapTransform in roadside device coordinate system, obtainWherein
For grid centre coordinate, round numbers,For trellis states could, transformation relation is：
(2) local map is classified：Road is numbered according to IdIt is divided into Ng classes Idg(j), 0≤j≤Ng, and will have
The local map of same link Id numberingsAccording to Idg(j) it is divided into corresponding Ng classes；
(3) map is merged：Each class local map is merged respectively, the fusion map on Ng bar roads is obtained0≤j≤Ng, merging flow is：
A. j classes (0≤j≤Ng) partly atlas to be fused is setIn include njIndividual local map, order
B. to local mapWithMerge, fusion rule is：It is rightWith
Overlapping region according to "or" carry out grid fusion treatment, to Non-overlapping Domain carry out splicing.It is rightMiddle Gridr,j(i) each componentFollowing algorithm (b1)-(b3) is performed to be merged：
(b1) overlapping region judges：If there isMiddle Gridg,jComponentMeet conditionWith
AndThenThe grid of representative belongs to overlapping region, otherwise belongs to Non-overlapping Domain；
(b2) overlapping region is merged：To overlapping regionGrid fusion treatment is carried out according to "or", is updated
Upper corresponding trellis states could：
(b3) Non-overlapping Domain is spliced：To Non-overlapping DomainIt is appended toGridg,jIn：
C. repeat step b, until to njIndividual target vehicle is all merged, and obtains a fusion ground on roadside device
Figure
The above embodiment is interpreted as being merely to illustrate the present invention rather than limited the scope of the invention.
After the content for the record for having read the present invention, technical staff can make various changes or modifications to the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (6)
1. a kind of intelligent vehicle map emerging system based on roadside device, it is characterised in that including：Mobile unit is set with trackside
Standby two parts, wherein mobile unit include vehicle localization module, ADAS Senior Officer's accessory system map interfaces module, part
The special short-distance wireless communication communication module of map generation module, vehicle DSRC and map modular converter, the roadside device include
Trackside DSRC communication modules and map Fusion Module；
Wherein, mobile unit part：The vehicle localization module, for obtaining main car in geographical coordinate by mobile satellite location equipment
Position and attitude information under system；The ADAS map interfaces module, for the vehicle location provided according to vehicle localization module,
The road Id numberings of main car current location are obtained from ADAS map data bases；The local map generation module, for passing through
Onboard sensor detects main car surrounding environment, according to sensor measurement data, generates the corresponding local map in main car current location；
The vehicle DSRC communication modules, for issuing position of main car current time, posture, vehicle present road Id and partly
Figure, while receiving roadside device position, posture and the fusion map consistent with main car present road Id of roadside device issue；
The map modular converter, for fusion map to be transformed into main car coordinate system.
Roadside device part：The trackside DSRC communication modules, for receiving from communication range Nei Geche around roadside device
Vehicle location, posture, place road Id and the corresponding local map of issue, and issue roadside device current location, posture
And map Fusion Module merges the fusion map obtained after each vehicle local map；The map Fusion Module, for by road
Each vehicle local map that side DSRC communication modules are received is transformed into roadside device coordinate system, and local map is entered according to road Id
Row classification, the local map with same link Id is merged, the fusion map on each road is obtained.
2. the intelligent vehicle map emerging system according to claim 1 based on roadside device, it is characterised in that the car
The local map form for carrying the generation of equipment local map generation module is grating map, and local map is using current vehicle position as original
Point, headstock direction is that y-axis is positive, and each grid of map is s with a vector representationj h=(xj h,yj h,fj h)T, partly chart
It is shown as with lattice vector sj hFor the matrix Grid of elementh=[sj h]1,n*m, wherein n, m is the grid number of vertical, horizontal, xj h、yj hFor
Grid centre coordinate, fj hFor trellis states could, fj h=1, to occupy state, represents there is barrier, f at the gridj h=0 is not occupy
State.
3. the intelligent vehicle map emerging system according to claim 1 based on roadside device, it is characterised in that the road
The fusion format map of side apparatus map Fusion Module is grating map.It is using roadside device position as original to merge cartographic representation
Point, road normal direction is that y-axis is positive, and each grid of map is s with a vector representationj g=(xj g,yj g,fj g)T, fusion ground
Chart is shown as with lattice vector sj gFor the matrix Grid of elementg=[sj g]1,n’*m’, wherein wherein n ', m ' are the grid of vertical, horizontal
Number, xj g、yj gFor grid centre coordinate, fj gFor trellis states could, fj g=1, to occupy state, represents there is barrier, f at the gridj g
=0 is not occupy state.
4. a kind of intelligent vehicle map amalgamation method based on roadside device based on system described in claim 1, its feature exists
In comprising the following steps：
(1) main truck position and attitude detection：In current time k, the vehicle localization module of main car mobile unit passes through satellite fix
Equipment gathers and calculates position L of the k moment main car under geographic coordinate systemk h=(xk h,yk h,zk h) and posture Pk h, wherein appearance
State is defined as vehicle heading and geographic coordinate system direct north angle；
(2) main car is currently located road determination：The master that mobile unit ADAS map interfaces module is provided according to vehicle localization module
Truck position, obtains the road Id numberings Id of main car current location from ADAS map data basesk h；
(3) local map is generated：Onboard sensor gathers the observation data of main car ambient condition information, generates the main car k moment
Local grid map Mapk h={ L, W, Gridh}；
(4) main car information issue：Vehicle-mounted DSRC communication modules issue position L of main car current timek h, posture Pk h, road Id numbering
Idk hAnd local grid map Mapk h；
(5) roadside device information is received：Trackside DSRC communication modules receive the position L of each vehicle issuek h(i), posture Pk h(i)、
Road Id numberings Idk hAnd local grid map Map (i)k h(i)；
(6) map is merged：Each vehicle local map that roadside device map Fusion Module receives trackside DSRC communication modules
Mapk h(i) the local map Map under roadside device coordinate system is converted tok r(i)；By road according to Id numberings Idk h(i) it is divided into Ng
Class Idg(j), 1≤j≤Ng, and the local map Map that will be numbered with same link Idk r(i) according to Idg(j) it is divided into Ng classes,
Each class local map is merged respectively, the fusion map Map on each road is obtainedk g(j)；
(7) map publishing is merged：Trackside DSRC communication modules issue the position L of current roadside deviceg, posture Pg, each road Id compiles
Number IdgAnd corresponding fusion map Map (j)k g(j), 1≤j≤Ng；
(8) vehicle equipment information is received：Vehicle-mounted DSRC communication modules receive the position L of current roadside deviceg, posture PgAnd main car
Present road Id numberings Idk hConsistent IdgAnd corresponding fusion map Mapk (j)g(j), it is designated as Mapk g；
(9) main car map conversion：Mobile unit map modular converter will merge map Mapk gMain car coordinate system is transformed into, is led
Car fusion map Mapk g-h。
5. the intelligent vehicle map amalgamation method according to claim 4 based on roadside device, it is characterised in that describedly
Each vehicle local map that trackside DSRC communication modules are received is transformed into roadside device coordinate system and melted by figure Fusion Module
Close, its step includes：
(1) local map coordinate transform：Each vehicle local map Map that trackside DSRC communication modules are receivedk h(i) road is converted to
Local map Map under side apparatus coordinate systemk r(i)；
(2) local map is classified：By road according to Id numberings Idk h(i) it is divided into Ng classes Idg(j), 0≤j≤Ng, and will have phase
The local map Map numbered with road Idk r(i) according to Idg(j) it is divided into corresponding Ng classes；
(3) map is merged：Each class local map is merged respectively, the fusion map Map on Ng bar roads is obtainedk g,j, 0
≤j≤Ng。
6. according to intelligent vehicle map amalgamation method of the claim 5 based on roadside device, it is characterised in that
The step (3) carries out merging the fusion map obtained on Ng bar roads respectively to each class local map,
Its step includes：
(1) j classes (0≤j≤Ng) partly atlas Map to be fused is setk r,j(i) n is included injIndividual local map, makes Mapk g,j=
Mapk r,j(1)；
(2) to local map Mapk r,j(i), with Mapk g,jMerge, fusion rule is：To Mapk r,jAnd Map (i)k g,jOverlay region
Domain carries out grid fusion treatment according to "or", and splicing is carried out to Non-overlapping Domain；
(3) repeat step (2), until to njIndividual target vehicle is all merged, and obtains a fusion map on roadside device
Mapk g,j。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182832.3A CN107063275B (en) | 2017-03-24 | 2017-03-24 | Intelligent vehicle map fusion system and method based on road side equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182832.3A CN107063275B (en) | 2017-03-24 | 2017-03-24 | Intelligent vehicle map fusion system and method based on road side equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107063275A true CN107063275A (en) | 2017-08-18 |
| CN107063275B CN107063275B (en) | 2020-05-12 |
Family
ID=59619897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710182832.3A Active CN107063275B (en) | 2017-03-24 | 2017-03-24 | Intelligent vehicle map fusion system and method based on road side equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107063275B (en) |
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108010360A (en) * | 2017-12-27 | 2018-05-08 | 中电海康集团有限公司 | A kind of automatic Pilot context aware systems based on bus or train route collaboration |
| CN108346318A (en) * | 2018-04-17 | 2018-07-31 | 长安大学 | A kind of control method and device of car networking communication |
| CN108646752A (en) * | 2018-06-22 | 2018-10-12 | 奇瑞汽车股份有限公司 | The control method and device of automated driving system |
| CN108731693A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | Block map acquisition method |
| CN108762245A (en) * | 2018-03-20 | 2018-11-06 | 华为技术有限公司 | Data fusion method and relevant device |
| CN109084785A (en) * | 2018-07-25 | 2018-12-25 | 吉林大学 | More vehicle co-locateds and map constructing method, device, equipment and storage medium |
| CN109445435A (en) * | 2018-11-21 | 2019-03-08 | 江苏木盟智能科技有限公司 | A kind of the traveling dispatching method and system of robot |
| CN109582018A (en) * | 2018-12-04 | 2019-04-05 | 黄昊 | The intelligent driving method, apparatus and system of four-dimensional framework based on block chain |
| CN109597862A (en) * | 2018-10-31 | 2019-04-09 | 百度在线网络技术（北京）有限公司 | Ground drawing generating method, device and computer readable storage medium based on puzzle type |
| CN109781129A (en) * | 2019-01-28 | 2019-05-21 | 重庆邮电大学 | A kind of road surface safety detection system and method based on inter-vehicular communication |
| CN109815879A (en) * | 2019-01-18 | 2019-05-28 | 北京地平线机器人技术研发有限公司 | Object detection method, device and electronic equipment |
| CN109900490A (en) * | 2017-12-11 | 2019-06-18 | 上海交通大学 | State of motion of vehicle detection method and system based on autonomous type and cooperating type sensor |
| CN109917790A (en) * | 2019-03-21 | 2019-06-21 | 上海赛摩物流科技有限公司 | It is a kind of independently to guide vehicle and its travel control method and control device |
| CN109935098A (en) * | 2017-12-18 | 2019-06-25 | 上海交通大学 | High-precision relative position information distribution device and method based on bus or train route communication for coordination |
| CN110083668A (en) * | 2019-03-22 | 2019-08-02 | 纵目科技（上海）股份有限公司 | A kind of data management system, management method, terminal and the storage medium of high-precision map |
| CN110316106A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Vehicle and its display terminal system and the method that three-dimensional topographic database is established by it |
| CN110470311A (en) * | 2019-07-08 | 2019-11-19 | 浙江吉利汽车研究院有限公司 | A kind of ground drawing generating method, device and computer storage medium |
| CN110491155A (en) * | 2019-07-30 | 2019-11-22 | 深圳市前海胡桃科技有限公司 | A kind of dispatching method of servomechanism, device and servomechanism |
| CN110648548A (en) * | 2019-09-12 | 2020-01-03 | 重庆邮电大学 | Road side equipment-based road surface safety detection system and method |
| CN110850378A (en) * | 2019-11-22 | 2020-02-28 | 深圳成谷科技有限公司 | Automatic calibration method and device for roadside radar equipment |
| CN110874938A (en) * | 2018-08-31 | 2020-03-10 | 百度在线网络技术（北京）有限公司 | Traffic light control system and traffic light control method |
| CN111076716A (en) * | 2018-10-18 | 2020-04-28 | 百度在线网络技术（北京）有限公司 | Method, apparatus, device and computer-readable storage medium for vehicle localization |
| CN111508250A (en) * | 2019-01-30 | 2020-08-07 | 杭州海康威视数字技术股份有限公司 | Road condition information processing method and system |
| CN111634290A (en) * | 2020-05-22 | 2020-09-08 | 华域汽车系统股份有限公司 | Advanced driving assistance forward fusion system and method |
| CN111757288A (en) * | 2019-03-27 | 2020-10-09 | 阿里巴巴集团控股有限公司 | Perception base station in road traffic environment and message sending method and device thereof |
| CN111819419A (en) * | 2017-12-27 | 2020-10-23 | 宝马股份公司 | Deformation correction of a digital map for a vehicle |
| CN112180910A (en) * | 2019-06-18 | 2021-01-05 | 北京京东尚科信息技术有限公司 | Obstacle sensing method and device for mobile robot |
| CN112729316A (en) * | 2019-10-14 | 2021-04-30 | 北京图森智途科技有限公司 | Positioning method and device of automatic driving vehicle, vehicle-mounted equipment, system and vehicle |
| CN112862881A (en) * | 2021-02-24 | 2021-05-28 | 清华大学 | Road map construction and fusion method based on crowd-sourced multi-vehicle camera data |
| CN112884892A (en) * | 2021-02-26 | 2021-06-01 | 武汉理工大学 | Unmanned mine car position information processing system and method based on road side device |
| CN113022540A (en) * | 2020-04-17 | 2021-06-25 | 青岛慧拓智能机器有限公司 | Real-time remote driving system and method for monitoring multiple vehicle states |
| CN113178091A (en) * | 2021-05-12 | 2021-07-27 | 中移智行网络科技有限公司 | Safe driving area method, device and network equipment |
| CN113176097A (en) * | 2021-03-15 | 2021-07-27 | 北京汽车研究总院有限公司 | Detection method of perception module, computer readable storage medium and vehicle |
| CN114079884A (en) * | 2020-08-14 | 2022-02-22 | 大唐高鸿智联科技(重庆)有限公司 | Transmission control method, device, equipment and terminal for map data |
| CN114279453A (en) * | 2022-03-04 | 2022-04-05 | 智道网联科技(北京)有限公司 | Automatic driving vehicle positioning method and device based on vehicle-road cooperation and electronic equipment |
| CN114999198A (en) * | 2022-04-14 | 2022-09-02 | 广州都市圈网络科技有限公司 | Mixed traffic flow fusion control method and system based on high-precision map relative position |
| WO2022227881A1 (en) * | 2021-04-25 | 2022-11-03 | 腾讯科技（深圳）有限公司 | Vehicle-road collaboration system, vehicle-road collaboration-based elevation conversion and updating method and apparatus, and storage medium |
| EP4044143A4 (en) * | 2019-10-30 | 2022-11-23 | Furukawa Electric Co., Ltd. | Driving assistance system |
| CN115516538A (en) * | 2020-06-25 | 2022-12-23 | 株式会社日立制作所 | Information management system, information management device, and information management method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101600939A (en) * | 2006-12-05 | 2009-12-09 | 株式会社建伍 | Information providing system, system provide method and computer program |
| CN102354449A (en) * | 2011-10-09 | 2012-02-15 | 昆山市工业技术研究院有限责任公司 | Internet of vehicles-based method for realizing image information sharing and device and system thereof |
| CN102737511A (en) * | 2012-07-04 | 2012-10-17 | 武汉大学 | Intelligent road side system |
| CN103582803A (en) * | 2011-06-14 | 2014-02-12 | 克朗设备有限公司 | Method and apparatus for sharing map data associated with automated industrial vehicles |
| CN103901884A (en) * | 2012-12-25 | 2014-07-02 | 联想(北京)有限公司 | Information processing method and information processing device |
| US20160061614A1 (en) * | 2014-09-02 | 2016-03-03 | Hyundai Mobis Co., Ltd. | Apparatus and method for estimating a position of a vehicle |
| CN105492985A (en) * | 2014-09-05 | 2016-04-13 | 深圳市大疆创新科技有限公司 | Multi-sensor environment map building |
| CN105701479A (en) * | 2016-02-26 | 2016-06-22 | 重庆邮电大学 | Intelligent vehicle multi-laser radar fusion recognition method based on target features |
| CN105809126A (en) * | 2016-03-04 | 2016-07-27 | 重庆邮电大学 | Intelligent vehicle target tracking system and method employing DSRC and vehicle sensor in combination |
| US20160266256A1 (en) * | 2015-03-11 | 2016-09-15 | The Boeing Company | Real Time Multi Dimensional Image Fusing |
| CN105973244A (en) * | 2015-10-29 | 2016-09-28 | 乐卡汽车智能科技（北京）有限公司 | Method, navigation method and equipment for obtaining map information |
| CN106485949A (en) * | 2015-07-20 | 2017-03-08 | 德韧营运有限责任公司 | The sensor fusion of the video camera for vehicle and V2V data |
-
2017
- 2017-03-24 CN CN201710182832.3A patent/CN107063275B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101600939A (en) * | 2006-12-05 | 2009-12-09 | 株式会社建伍 | Information providing system, system provide method and computer program |
| CN103582803A (en) * | 2011-06-14 | 2014-02-12 | 克朗设备有限公司 | Method and apparatus for sharing map data associated with automated industrial vehicles |
| CN102354449A (en) * | 2011-10-09 | 2012-02-15 | 昆山市工业技术研究院有限责任公司 | Internet of vehicles-based method for realizing image information sharing and device and system thereof |
| CN102737511A (en) * | 2012-07-04 | 2012-10-17 | 武汉大学 | Intelligent road side system |
| CN103901884A (en) * | 2012-12-25 | 2014-07-02 | 联想(北京)有限公司 | Information processing method and information processing device |
| US20160061614A1 (en) * | 2014-09-02 | 2016-03-03 | Hyundai Mobis Co., Ltd. | Apparatus and method for estimating a position of a vehicle |
| CN105492985A (en) * | 2014-09-05 | 2016-04-13 | 深圳市大疆创新科技有限公司 | Multi-sensor environment map building |
| US20160266256A1 (en) * | 2015-03-11 | 2016-09-15 | The Boeing Company | Real Time Multi Dimensional Image Fusing |
| CN106485949A (en) * | 2015-07-20 | 2017-03-08 | 德韧营运有限责任公司 | The sensor fusion of the video camera for vehicle and V2V data |
| CN105973244A (en) * | 2015-10-29 | 2016-09-28 | 乐卡汽车智能科技（北京）有限公司 | Method, navigation method and equipment for obtaining map information |
| CN105701479A (en) * | 2016-02-26 | 2016-06-22 | 重庆邮电大学 | Intelligent vehicle multi-laser radar fusion recognition method based on target features |
| CN105809126A (en) * | 2016-03-04 | 2016-07-27 | 重庆邮电大学 | Intelligent vehicle target tracking system and method employing DSRC and vehicle sensor in combination |
Non-Patent Citations (1)
| Title |
|---|
| 徐子健等: "V2V技术在智能交通系统中的应用与改进", 《企业技术开发》 * |
Cited By (53)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900490A (en) * | 2017-12-11 | 2019-06-18 | 上海交通大学 | State of motion of vehicle detection method and system based on autonomous type and cooperating type sensor |
| CN109935098A (en) * | 2017-12-18 | 2019-06-25 | 上海交通大学 | High-precision relative position information distribution device and method based on bus or train route communication for coordination |
| CN109935098B (en) * | 2017-12-18 | 2020-11-06 | 上海交通大学 | High-precision relative position information broadcasting device and method based on vehicle-road cooperative communication |
| CN111819419B (en) * | 2017-12-27 | 2024-03-08 | 宝马股份公司 | Distortion correction for digital map of vehicle |
| CN108010360A (en) * | 2017-12-27 | 2018-05-08 | 中电海康集团有限公司 | A kind of automatic Pilot context aware systems based on bus or train route collaboration |
| CN111819419A (en) * | 2017-12-27 | 2020-10-23 | 宝马股份公司 | Deformation correction of a digital map for a vehicle |
| CN108762245A (en) * | 2018-03-20 | 2018-11-06 | 华为技术有限公司 | Data fusion method and relevant device |
| CN108762245B (en) * | 2018-03-20 | 2022-03-25 | 华为技术有限公司 | Data fusion method and related equipment |
| WO2019179417A1 (en) * | 2018-03-20 | 2019-09-26 | 华为技术有限公司 | Data fusion method and related device |
| CN110316106A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Vehicle and its display terminal system and the method that three-dimensional topographic database is established by it |
| CN108346318A (en) * | 2018-04-17 | 2018-07-31 | 长安大学 | A kind of control method and device of car networking communication |
| CN108731693A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | Block map acquisition method |
| CN108646752B (en) * | 2018-06-22 | 2021-12-28 | 奇瑞汽车股份有限公司 | Control method and device of automatic driving system |
| CN108646752A (en) * | 2018-06-22 | 2018-10-12 | 奇瑞汽车股份有限公司 | The control method and device of automated driving system |
| CN109084785A (en) * | 2018-07-25 | 2018-12-25 | 吉林大学 | More vehicle co-locateds and map constructing method, device, equipment and storage medium |
| US11257367B2 (en) | 2018-08-31 | 2022-02-22 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | System and method for controlling traffic lights |
| CN110874938A (en) * | 2018-08-31 | 2020-03-10 | 百度在线网络技术（北京）有限公司 | Traffic light control system and traffic light control method |
| CN111076716B (en) * | 2018-10-18 | 2022-06-03 | 百度在线网络技术（北京）有限公司 | Method, apparatus, device and computer-readable storage medium for vehicle localization |
| CN111076716A (en) * | 2018-10-18 | 2020-04-28 | 百度在线网络技术（北京）有限公司 | Method, apparatus, device and computer-readable storage medium for vehicle localization |
| CN109597862B (en) * | 2018-10-31 | 2020-10-16 | 百度在线网络技术（北京）有限公司 | Map generation method and device based on jigsaw puzzle and computer readable storage medium |
| CN109597862A (en) * | 2018-10-31 | 2019-04-09 | 百度在线网络技术（北京）有限公司 | Ground drawing generating method, device and computer readable storage medium based on puzzle type |
| CN109445435A (en) * | 2018-11-21 | 2019-03-08 | 江苏木盟智能科技有限公司 | A kind of the traveling dispatching method and system of robot |
| CN109582018A (en) * | 2018-12-04 | 2019-04-05 | 黄昊 | The intelligent driving method, apparatus and system of four-dimensional framework based on block chain |
| CN109815879A (en) * | 2019-01-18 | 2019-05-28 | 北京地平线机器人技术研发有限公司 | Object detection method, device and electronic equipment |
| CN109781129A (en) * | 2019-01-28 | 2019-05-21 | 重庆邮电大学 | A kind of road surface safety detection system and method based on inter-vehicular communication |
| CN111508250A (en) * | 2019-01-30 | 2020-08-07 | 杭州海康威视数字技术股份有限公司 | Road condition information processing method and system |
| CN109917790A (en) * | 2019-03-21 | 2019-06-21 | 上海赛摩物流科技有限公司 | It is a kind of independently to guide vehicle and its travel control method and control device |
| CN110083668A (en) * | 2019-03-22 | 2019-08-02 | 纵目科技（上海）股份有限公司 | A kind of data management system, management method, terminal and the storage medium of high-precision map |
| CN110083668B (en) * | 2019-03-22 | 2024-02-13 | 纵目科技（上海）股份有限公司 | Data management system, management method, terminal and storage medium for high-precision map |
| CN111757288A (en) * | 2019-03-27 | 2020-10-09 | 阿里巴巴集团控股有限公司 | Perception base station in road traffic environment and message sending method and device thereof |
| CN112180910A (en) * | 2019-06-18 | 2021-01-05 | 北京京东尚科信息技术有限公司 | Obstacle sensing method and device for mobile robot |
| CN110470311A (en) * | 2019-07-08 | 2019-11-19 | 浙江吉利汽车研究院有限公司 | A kind of ground drawing generating method, device and computer storage medium |
| CN110491155A (en) * | 2019-07-30 | 2019-11-22 | 深圳市前海胡桃科技有限公司 | A kind of dispatching method of servomechanism, device and servomechanism |
| CN110648548A (en) * | 2019-09-12 | 2020-01-03 | 重庆邮电大学 | Road side equipment-based road surface safety detection system and method |
| CN112729316A (en) * | 2019-10-14 | 2021-04-30 | 北京图森智途科技有限公司 | Positioning method and device of automatic driving vehicle, vehicle-mounted equipment, system and vehicle |
| EP4044143A4 (en) * | 2019-10-30 | 2022-11-23 | Furukawa Electric Co., Ltd. | Driving assistance system |
| CN110850378B (en) * | 2019-11-22 | 2021-11-19 | 深圳成谷科技有限公司 | Automatic calibration method and device for roadside radar equipment |
| CN110850378A (en) * | 2019-11-22 | 2020-02-28 | 深圳成谷科技有限公司 | Automatic calibration method and device for roadside radar equipment |
| CN113022540A (en) * | 2020-04-17 | 2021-06-25 | 青岛慧拓智能机器有限公司 | Real-time remote driving system and method for monitoring multiple vehicle states |
| CN111634290A (en) * | 2020-05-22 | 2020-09-08 | 华域汽车系统股份有限公司 | Advanced driving assistance forward fusion system and method |
| CN111634290B (en) * | 2020-05-22 | 2023-08-11 | 华域汽车系统股份有限公司 | Advanced driving assistance forward fusion system and method |
| CN115516538A (en) * | 2020-06-25 | 2022-12-23 | 株式会社日立制作所 | Information management system, information management device, and information management method |
| CN114079884A (en) * | 2020-08-14 | 2022-02-22 | 大唐高鸿智联科技(重庆)有限公司 | Transmission control method, device, equipment and terminal for map data |
| CN112862881B (en) * | 2021-02-24 | 2023-02-07 | 清华大学 | Road map construction and fusion method based on crowd-sourced multi-vehicle camera data |
| CN112862881A (en) * | 2021-02-24 | 2021-05-28 | 清华大学 | Road map construction and fusion method based on crowd-sourced multi-vehicle camera data |
| CN112884892A (en) * | 2021-02-26 | 2021-06-01 | 武汉理工大学 | Unmanned mine car position information processing system and method based on road side device |
| CN113176097A (en) * | 2021-03-15 | 2021-07-27 | 北京汽车研究总院有限公司 | Detection method of perception module, computer readable storage medium and vehicle |
| CN113176097B (en) * | 2021-03-15 | 2023-03-14 | 北京汽车研究总院有限公司 | Detection method of sensing module, computer readable storage medium and vehicle |
| WO2022227881A1 (en) * | 2021-04-25 | 2022-11-03 | 腾讯科技（深圳）有限公司 | Vehicle-road collaboration system, vehicle-road collaboration-based elevation conversion and updating method and apparatus, and storage medium |
| CN113178091A (en) * | 2021-05-12 | 2021-07-27 | 中移智行网络科技有限公司 | Safe driving area method, device and network equipment |
| CN114279453B (en) * | 2022-03-04 | 2022-07-19 | 智道网联科技(北京)有限公司 | Automatic driving vehicle positioning method and device based on vehicle-road cooperation and electronic equipment |
| CN114279453A (en) * | 2022-03-04 | 2022-04-05 | 智道网联科技(北京)有限公司 | Automatic driving vehicle positioning method and device based on vehicle-road cooperation and electronic equipment |
| CN114999198A (en) * | 2022-04-14 | 2022-09-02 | 广州都市圈网络科技有限公司 | Mixed traffic flow fusion control method and system based on high-precision map relative position |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107063275B (en) | 2020-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107063275A (en) | Intelligent vehicle map emerging system and method based on roadside device | |
| CN106441319B (en) | A kind of generation system and method for automatic driving vehicle lane grade navigation map | |
| CN111524357B (en) | Method for fusing multiple data required for safe driving of vehicle | |
| CN107229690B (en) | Dynamic High-accuracy map datum processing system and method based on trackside sensor | |
| KR102622571B1 (en) | Directions for autonomous driving | |
| WO2022141910A1 (en) | Vehicle-road laser radar point cloud dynamic segmentation and fusion method based on driving safety risk field | |
| CN108196535A (en) | Automated driving system based on enhancing study and Multi-sensor Fusion | |
| Broggi et al. | Proud-public road urban driverless test: Architecture and results | |
| CN106969779A (en) | Intelligent vehicle map emerging system and method based on DSRC | |
| DE112020002175T5 (en) | SYSTEMS AND METHODS FOR VEHICLE NAVIGATION | |
| DE112020004133T5 (en) | SYSTEMS AND PROCEDURES FOR IDENTIFICATION OF POSSIBLE COMMUNICATION BARRIERS | |
| Knaup et al. | RoadGraph-Graph based environmental modelling and function independent situation analysis for driver assistance systems | |
| CN110799804A (en) | Map generation system and method | |
| DE112020000110T5 (en) | USE OF PASSENGER ATTENTION DATA COLLECTED IN VEHICLES FOR LOCATIONALIZATION AND LOCATION-RELATED SERVICES | |
| DE112020002764T5 (en) | SYSTEMS AND METHODS FOR VEHICLE NAVIGATION | |
| CN105976606A (en) | Intelligent urban traffic management platform | |
| US11628850B2 (en) | System for generating generalized simulation scenarios | |
| JP2022510959A (en) | Automatic performance check for autonomous vehicles | |
| CN110807412B (en) | Vehicle laser positioning method, vehicle-mounted equipment and storage medium | |
| CN209281637U (en) | Merge the LTE-V bus or train route cooperative device of ETC technology | |
| DE112021002001T5 (en) | NAVIGATING A VEHICLE USING AN ELECTRONIC HORIZON | |
| DE112021002680T5 (en) | SYSTEMS AND METHODS FOR DETECTING AN OPEN DOOR | |
| DE112020002592T5 (en) | SYSTEMS AND METHODS FOR VEHICLE NAVIGATION BASED ON IMAGE ANALYSIS | |
| US20210150244A1 (en) | Systems and Methods for Answering Region Specific Questions | |
| CN109849816A (en) | A kind of autonomous driving vehicle driving ability evaluating method, apparatus and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |