KR20190069384A - 자율 주행을 위한 스파스 맵(sparse map)의 크라우드소싱과 배포 및 차선 측정 - Google Patents

자율 주행을 위한 스파스 맵(sparse map)의 크라우드소싱과 배포 및 차선 측정 Download PDF

Info

Publication number
KR20190069384A
KR20190069384A KR1020197005067A KR20197005067A KR20190069384A KR 20190069384 A KR20190069384 A KR 20190069384A KR 1020197005067 A KR1020197005067 A KR 1020197005067A KR 20197005067 A KR20197005067 A KR 20197005067A KR 20190069384 A KR20190069384 A KR 20190069384A
Authority
KR
South Korea
Prior art keywords
road
vehicle
image
road section
lane
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.)
Ceased
Application number
KR1020197005067A
Other languages
English (en)
Korean (ko)
Inventor
오퍼 프리드만
리바이 이차크 벨라체
Original Assignee
모빌아이 비젼 테크놀로지스 엘티디.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 모빌아이 비젼 테크놀로지스 엘티디. filed Critical 모빌아이 비젼 테크놀로지스 엘티디.
Publication of KR20190069384A publication Critical patent/KR20190069384A/ko
Ceased legal-status Critical Current

Links

Images

Classifications

    • G06K9/00791—
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • G01C21/3819—Road shape data, e.g. outline of a route
    • 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
    • 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
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
    • 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
    • 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
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G06K9/6201—
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/94—Hardware or software architectures specially adapted for image or video understanding
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Software Systems (AREA)
  • Data Mining & Analysis (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Medical Informatics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Instructional Devices (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
KR1020197005067A 2016-07-21 2017-07-21 자율 주행을 위한 스파스 맵(sparse map)의 크라우드소싱과 배포 및 차선 측정 Ceased KR20190069384A (ko)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US201662365192P 2016-07-21 2016-07-21
US201662365188P 2016-07-21 2016-07-21
US62/365,192 2016-07-21
US62/365,188 2016-07-21
US201662373153P 2016-08-10 2016-08-10
US62/373,153 2016-08-10
PCT/IB2017/001058 WO2018015811A1 (en) 2016-07-21 2017-07-21 Crowdsourcing and distributing a sparse map, and lane measurements for autonomous vehicle navigation

Publications (1)

Publication Number Publication Date
KR20190069384A true KR20190069384A (ko) 2019-06-19

Family

ID=59791099

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020197005067A Ceased KR20190069384A (ko) 2016-07-21 2017-07-21 자율 주행을 위한 스파스 맵(sparse map)의 크라우드소싱과 배포 및 차선 측정

Country Status (6)

Country Link
EP (3) EP3843001B1 (https=)
JP (4) JP7127941B2 (https=)
KR (1) KR20190069384A (https=)
CN (6) CN112923930B (https=)
AU (4) AU2017300097B2 (https=)
WO (1) WO2018015811A1 (https=)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210084912A (ko) * 2019-12-30 2021-07-08 한국과학기술원 도로 표지판의 패턴과 위치를 이용한 차량의 주행 정보 인식 방법 및 장치
KR102311719B1 (ko) * 2020-11-16 2021-10-12 (주)에바 자율주행 차량의 제어를 위한 마커의 무결성 검증 방법, 서버 및 컴퓨터프로그램
US12488536B2 (en) 2023-05-17 2025-12-02 Woven By Toyota, Inc. Systems and methods for estimating lane elevation for generating 3D maps

Families Citing this family (75)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6753358B2 (ja) * 2017-05-31 2020-09-09 トヨタ自動車株式会社 車両制御装置
JP6949744B2 (ja) 2018-01-31 2021-10-13 株式会社日立製作所 情報処理装置及び自動運転軌道管理システム
FR3077547A1 (fr) * 2018-02-08 2019-08-09 Renault S.A.S Systeme et procede de detection d'un risque de collision entre un vehicule automobile et un objet secondaire situe sur les voies de circulation adjacentes audit vehicule lors d'un changement de voie
US10684132B2 (en) * 2018-03-19 2020-06-16 Here Global B.V. Generation and update of a lane network graph model
KR102337011B1 (ko) 2018-03-20 2021-12-13 모빌아이 비젼 테크놀로지스 엘티디 차량의 항법을 위한 시스템 및 방법
US11263549B2 (en) * 2018-03-22 2022-03-01 Here Global B.V. Method, apparatus, and system for in-vehicle data selection for feature detection model creation and maintenance
US10732001B1 (en) * 2018-04-06 2020-08-04 State Farm Mutual Automobile Insurance Company Methods and systems for response vehicle deployment
US10997429B2 (en) 2018-04-11 2021-05-04 Micron Technology, Inc. Determining autonomous vehicle status based on mapping of crowdsourced object data
EP3598414B1 (en) * 2018-07-20 2025-03-19 Volvo Car Corporation System and method for avoiding a collision course
JP7192704B2 (ja) * 2018-08-31 2022-12-20 株式会社デンソー 地図生成装置及び地図生成プログラム
JP7147712B2 (ja) 2018-08-31 2022-10-05 株式会社デンソー 車両側装置、方法および記憶媒体
KR102480417B1 (ko) * 2018-09-21 2022-12-22 삼성전자주식회사 전자 장치 및 전자 장치의 차량 제어 방법, 서버 및 서버의 정밀 지도 데이터 제공 방법
WO2020077117A1 (en) 2018-10-11 2020-04-16 Tesla, Inc. Systems and methods for training machine models with augmented data
EP3640679B1 (en) 2018-10-15 2023-06-07 Zenuity AB A method for assigning ego vehicle to a lane
CA3122865A1 (en) * 2018-12-13 2020-06-18 Continental Holding China Co., Ltd. Method for detecting and modeling of object on surface of road
US10803333B2 (en) 2019-01-30 2020-10-13 StradVision, Inc. Method and device for ego-vehicle localization to update HD map by using V2X information fusion
DE112020000821T5 (de) * 2019-02-14 2021-11-04 Jonathan Abramson Systeme und verfahren zur fahrzeugnavigation
JP2020166584A (ja) * 2019-03-29 2020-10-08 トヨタ自動車株式会社 画像情報収集システム及び車両
CN113825979B (zh) * 2019-05-24 2025-03-28 御眼视觉技术有限公司 用于基于图像分析的车辆导航的系统和方法
CN110378293B (zh) * 2019-07-22 2021-02-23 泰瑞数创科技(北京)有限公司 一种基于实景三维模型生产高精度地图的方法
JP7329381B2 (ja) 2019-07-22 2023-08-18 株式会社ブリヂストン 制御方法、制御装置、制御システムおよびタイヤ試験方法
CN110443319B (zh) * 2019-08-09 2021-10-29 武汉中海庭数据技术有限公司 一种轨迹去重方法、装置及存储介质
US11195027B2 (en) 2019-08-15 2021-12-07 Toyota Motor Engineering And Manufacturing North America, Inc. Automated crowd sourcing of road environment information
CN110598563A (zh) * 2019-08-15 2019-12-20 北京致行慕远科技有限公司 可移动设备行进的处理方法、装置及存储介质
WO2021045255A1 (ko) 2019-09-04 2021-03-11 엘지전자 주식회사 경로 제공 장치 및 그것의 경로 제공 방법
CN112461257A (zh) * 2019-09-09 2021-03-09 华为技术有限公司 一种车道线信息的确定方法及装置
US20210101616A1 (en) * 2019-10-08 2021-04-08 Mobileye Vision Technologies Ltd. Systems and methods for vehicle navigation
US11300967B2 (en) * 2019-10-25 2022-04-12 Toyota Research Institute, Inc. System and method for collection of performance data by a vehicle
CN112825196B (zh) * 2019-11-20 2023-04-25 阿里巴巴集团控股有限公司 一种道路标记的确定方法、装置、存储介质及编辑平台
DE102019219171A1 (de) * 2019-12-09 2021-05-27 Continental Automotive Gmbh Fahrerassistenzsystem, Crowdsourcing-Modul, Verfahren und Computerprogramm
CN111044045B (zh) * 2019-12-09 2022-05-27 中国科学院深圳先进技术研究院 基于神经网络的导航方法、装置及终端设备
EP3839434A1 (en) * 2019-12-20 2021-06-23 Zenuity AB Method and system for generating and updating digital maps
US11244500B2 (en) 2019-12-31 2022-02-08 Woven Planet North America, Inc. Map feature extraction using overhead view images
US11037328B1 (en) 2019-12-31 2021-06-15 Lyft, Inc. Overhead view image generation
US20210199446A1 (en) * 2019-12-31 2021-07-01 Lyft, Inc. Overhead view image generation
US11288522B2 (en) 2019-12-31 2022-03-29 Woven Planet North America, Inc. Generating training data from overhead view images
EP4085230A1 (en) 2020-01-03 2022-11-09 Mobileye Vision Technologies Ltd. Systems and methods for vehicle navigation
DE112020002869T5 (de) * 2020-01-03 2022-03-10 Mobileye Vision Technologies Ltd. Navigationssysteme und verfahren zum bestimmen von objektabmessungen
FR3106016B1 (fr) * 2020-01-07 2022-03-25 Continental Automotive Procédé de qualification d’une section d’un segment routier
CN111221340B (zh) * 2020-02-10 2023-04-07 电子科技大学 一种基于粗粒度特征的可迁移视觉导航设计方法
CN115104004A (zh) * 2020-02-20 2022-09-23 通腾全球信息公司 产生地图变化数据
US11599117B2 (en) * 2020-02-20 2023-03-07 Steering Solutions Ip Holding Corporation Systems and methods for obstacle proximity detection
WO2021181652A1 (ja) * 2020-03-13 2021-09-16 三菱電機株式会社 車両制御装置
JP7310674B2 (ja) * 2020-03-25 2023-07-19 株式会社デンソー 地図更新装置及び地図更新プログラム
DE102020108508B3 (de) 2020-03-27 2021-09-02 Daimler Ag Verfahren zur Bewertung von Streckenabschnitten
CN117053814A (zh) * 2020-03-30 2023-11-14 御眼视觉技术有限公司 使用电子地平线导航交通工具
CN111445699B (zh) * 2020-04-13 2021-10-26 黑龙江工程学院 基于实时车辆轨迹的交叉口交通冲突判别方法
CN111812674B (zh) * 2020-06-08 2024-04-05 北京经纬恒润科技股份有限公司 激光雷达仿真方法及装置
JP7287353B2 (ja) * 2020-06-11 2023-06-06 トヨタ自動車株式会社 位置推定装置及び位置推定用コンピュータプログラム
CN111598054A (zh) * 2020-06-19 2020-08-28 上海眼控科技股份有限公司 车辆检测方法、装置、计算机设备及存储介质
CN111860383B (zh) * 2020-07-27 2023-11-10 苏州市职业大学 一种群体异常行为识别方法、装置、设备及存储介质
CN112216102B (zh) * 2020-09-11 2021-09-14 恒大新能源汽车投资控股集团有限公司 路面信息的确定方法、装置、设备及存储介质
CN112406706B (zh) * 2020-11-20 2022-07-22 上海华兴数字科技有限公司 车辆景象的显示方法、装置、可读存储介质及电子设备
DE102020131997A1 (de) * 2020-12-02 2022-06-02 Bayerische Motoren Werke Aktiengesellschaft Positionierung bezüglich Landmarken
CN113192387B (zh) * 2021-04-25 2022-10-04 广西师范大学 一种基于microbit技术的智能硬件小车教具
CN113190015A (zh) * 2021-05-20 2021-07-30 中国第一汽车股份有限公司 一种地形识别方法、装置、计算机设备和存储介质
CN113295174B (zh) * 2021-07-27 2021-10-08 腾讯科技（深圳）有限公司 一种车道级定位的方法、相关装置、设备以及存储介质
CN113686339B (zh) * 2021-08-16 2023-11-28 东南大学 一种基于移动终端众包数据的室内导航路网提取方法
JP7747483B2 (ja) * 2021-10-14 2025-10-01 日本信号株式会社 走行経路作成システム、運転支援システム及び走行経路作成プログラム
CN113936255B (zh) * 2021-10-15 2024-09-03 齐鲁工业大学 一种路口多转向车辆计数方法及系统
CN114111815B (zh) * 2021-11-01 2023-02-03 广州小鹏自动驾驶科技有限公司 一种地图数据的处理方法和装置
CN114492582B (zh) * 2021-12-28 2022-10-14 广州小鹏自动驾驶科技有限公司 一种分片式道路数据融合的方法、装置、设备及存储介质
CN114526721B (zh) * 2021-12-31 2024-05-24 易图通科技（北京）有限公司 地图对齐处理方法、装置及可读存储介质
CN114526722B (zh) * 2021-12-31 2024-05-24 易图通科技（北京）有限公司 地图对齐处理方法、装置及可读存储介质
CN114608592A (zh) * 2022-02-10 2022-06-10 上海追势科技有限公司 一种地图的众包方法、系统、设备和存储介质
CN115158337A (zh) * 2022-06-17 2022-10-11 重庆长安汽车股份有限公司 基于众包地图更新的驾驶辅助方法、系统及可读存储介质
CN115063767A (zh) * 2022-06-24 2022-09-16 北京地平线信息技术有限公司 路面元素重建方法、装置、设备和介质
CN115495464A (zh) * 2022-09-26 2022-12-20 北京百度网讯科技有限公司 地图更新方法、装置、电子设备和存储介质
JP7798747B2 (ja) 2022-09-30 2026-01-14 本田技研工業株式会社 エリア監視システムおよびエリア監視方法
US11938963B1 (en) * 2022-12-28 2024-03-26 Aurora Operations, Inc. Remote live map system for autonomous vehicles
CN116295332A (zh) * 2022-12-29 2023-06-23 纵目科技（上海）股份有限公司 一种用于生成地图的方法、设备及存储介质
US12392622B2 (en) 2023-05-09 2025-08-19 Ford Global Technologies, Llc Collaborative sensing metrics maps
CN116972870B (zh) * 2023-09-21 2023-12-15 南京遇简信息科技有限公司 基于计算机图像识别的道路导航增强方法、系统及介质
FR3157320A1 (fr) * 2023-12-22 2025-06-27 Stellantis Auto Sas Procédé et dispositif de contrôle d’un système de détermination d’une position d’un véhicule sur une route
CN119594985B (zh) * 2025-01-26 2025-06-03 北京小雨智造科技有限公司 多实体相对位置确定方法、装置、设备及介质

Family Cites Families (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6029173A (en) * 1997-11-26 2000-02-22 Navigation Technologies Corporation Method and system for representation and use of shape information in geographic databases
JP2000122719A (ja) 1998-10-14 2000-04-28 Toyota Motor Corp 車両走行制御装置
JP3807253B2 (ja) 2001-05-25 2006-08-09 日産自動車株式会社 走行路検出装置
JP2005145402A (ja) 2003-11-20 2005-06-09 Mitsubishi Motors Corp 車両のレーンキープ制御装置
US7689321B2 (en) * 2004-02-13 2010-03-30 Evolution Robotics, Inc. Robust sensor fusion for mapping and localization in a simultaneous localization and mapping (SLAM) system
CN103398719B (zh) * 2004-03-23 2017-04-12 咕果公司 数字地图描绘系统
JP5225542B2 (ja) 2004-09-22 2013-07-03 三菱電機株式会社 地図情報生成方法、地図情報生成プログラム及び地図情報収集装置
US7430473B2 (en) * 2004-10-01 2008-09-30 Bose Corporation Vehicle navigation display
CN1775601A (zh) * 2005-11-18 2006-05-24 吉林大学 车辆行驶轨迹预估及车道偏离评价方法
US7477988B2 (en) 2006-05-16 2009-01-13 Navteq North America, Llc Dual road geometry representation for position and curvature-heading
JP4797846B2 (ja) 2006-07-12 2011-10-19 トヨタ自動車株式会社 区画線検出装置及び車線検出装置
JP2008076593A (ja) 2006-09-20 2008-04-03 Hirotsu Sokichi 略地図生成装置および略地図生成方法
JP4703544B2 (ja) 2006-11-21 2011-06-15 トヨタ自動車株式会社 運転支援装置
EP2383679A1 (en) * 2006-12-06 2011-11-02 Mobileye Technologies Limited Detecting and recognizing traffic signs
JP2008309529A (ja) * 2007-06-12 2008-12-25 Panasonic Corp ナビゲーション装置、ナビゲーション方法、及びナビゲーション用プログラム
CN100494900C (zh) * 2007-07-03 2009-06-03 北京控制工程研究所 适用于自主移动车辆的环境感知的单目视觉导航方法
JP4984152B2 (ja) 2007-08-31 2012-07-25 アイシン・エィ・ダブリュ株式会社 画像認識システム、サーバ装置、及び画像認識装置
US8422736B2 (en) * 2007-11-16 2013-04-16 Tomtom Global Content B.V. Method of and apparatus for producing lane information
JP2009208551A (ja) 2008-03-03 2009-09-17 Toyota Motor Corp 車両の操舵支援装置
US8670592B2 (en) * 2008-04-24 2014-03-11 GM Global Technology Operations LLC Clear path detection using segmentation-based method
US8699754B2 (en) * 2008-04-24 2014-04-15 GM Global Technology Operations LLC Clear path detection through road modeling
JP5446136B2 (ja) 2008-06-05 2014-03-19 日本電気株式会社 走行支援システムおよび走行路曲線生成方法
US8725474B2 (en) * 2008-10-01 2014-05-13 Navteq B.V. Bezier curves for advanced driver assistance system applications
EP2352664A4 (en) * 2008-11-06 2014-04-23 Volvo Technology Corp METHOD AND SYSTEM FOR DETERMINING ROAD DATA
CN102059978B (zh) * 2009-11-16 2014-09-10 财团法人工业技术研究院 驾驶辅助方法与系统
US8793090B2 (en) * 2010-06-23 2014-07-29 Aisin Aw Co., Ltd. Track information generating device, track information generating method, and computer-readable storage medium
JP2013096713A (ja) * 2011-10-28 2013-05-20 Alpine Electronics Inc ナビゲーション装置
US9168924B2 (en) * 2012-03-26 2015-10-27 GM Global Technology Operations LLC System diagnosis in autonomous driving
US8818606B2 (en) 2012-04-16 2014-08-26 GM Global Technology Operations LLC System and method for vehicle lateral control
JP5829980B2 (ja) * 2012-06-19 2015-12-09 トヨタ自動車株式会社 路側物検出装置
CN103679127B (zh) * 2012-09-24 2017-08-04 株式会社理光 检测道路路面的可行驶区域的方法和装置
US9026300B2 (en) * 2012-11-06 2015-05-05 Google Inc. Methods and systems to aid autonomous vehicles driving through a lane merge
US9045041B2 (en) * 2013-02-27 2015-06-02 Here Global B.V. Driver behavior from probe data for augmenting a data model
US9816823B2 (en) * 2013-03-15 2017-11-14 Hewlett Packard Enterprise Development Lp Updating road maps
CN104236556A (zh) * 2013-06-18 2014-12-24 杨清玄 轨迹信息处理装置和方法
JP6197393B2 (ja) 2013-06-20 2017-09-20 株式会社豊田中央研究所 レーン地図生成装置及びプログラム
US9145139B2 (en) 2013-06-24 2015-09-29 Google Inc. Use of environmental information to aid image processing for autonomous vehicles
JP2015069289A (ja) * 2013-09-27 2015-04-13 日産自動車株式会社 車線認識装置
GB201318049D0 (en) * 2013-10-11 2013-11-27 Tomtom Int Bv Apparatus and methods of displaying navigation instructions
CN110920609B (zh) * 2013-12-04 2023-08-22 移动眼视力科技有限公司 用于模仿前车的系统和方法
US9227659B2 (en) * 2014-01-22 2016-01-05 GM Global Technology Operations LLC Vehicle lane control using differential torque
JP2015191437A (ja) 2014-03-28 2015-11-02 ダイハツ工業株式会社 運転支援装置
US9457807B2 (en) * 2014-06-05 2016-10-04 GM Global Technology Operations LLC Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver
TWI564193B (zh) 2014-10-15 2017-01-01 華創車電技術中心股份有限公司 車輛轉向控制系統及方法
WO2016090282A1 (en) * 2014-12-05 2016-06-09 Cowbyt Technologies Llc Autonomous navigation system
CN104732518B (zh) * 2015-01-19 2017-09-01 北京工业大学 一种基于智能机器人地面特征的ptam改进方法
CN105588576B (zh) * 2015-12-15 2019-02-05 招商局重庆交通科研设计院有限公司 一种车道级导航方法及系统

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210084912A (ko) * 2019-12-30 2021-07-08 한국과학기술원 도로 표지판의 패턴과 위치를 이용한 차량의 주행 정보 인식 방법 및 장치
KR102311719B1 (ko) * 2020-11-16 2021-10-12 (주)에바 자율주행 차량의 제어를 위한 마커의 무결성 검증 방법, 서버 및 컴퓨터프로그램
US12488536B2 (en) 2023-05-17 2025-12-02 Woven By Toyota, Inc. Systems and methods for estimating lane elevation for generating 3D maps

Also Published As

Publication number Publication date
JP7020728B2 (ja) 2022-02-16
CN112923930B (zh) 2022-06-28
EP3488384A1 (en) 2019-05-29
AU2022203635A1 (en) 2022-06-16
CN112902974A (zh) 2021-06-04
AU2022203622A1 (en) 2022-06-16
EP3843002A1 (en) 2021-06-30
CN109643367B (zh) 2023-08-08
AU2017300097A1 (en) 2019-01-17
CA3029124A1 (en) 2018-01-25
JP2019525148A (ja) 2019-09-05
CN116892952A (zh) 2023-10-17
AU2017300097B2 (en) 2022-03-10
JP2021088357A (ja) 2021-06-10
CN112923930A (zh) 2021-06-08
EP3843002B1 (en) 2025-12-17
AU2022203634B2 (en) 2022-07-14
JP7559296B2 (ja) 2024-10-02
EP3843002C0 (en) 2025-12-17
AU2022203635B2 (en) 2024-02-15
EP3843001B1 (en) 2025-12-17
AU2022203634A1 (en) 2022-06-16
JP2022166185A (ja) 2022-11-01
BR112019000918A8 (pt) 2023-04-11
CN116929401A (zh) 2023-10-24
BR112019000918A2 (pt) 2019-04-30
EP3843001A1 (en) 2021-06-30
CN116929331A (zh) 2023-10-24
EP3843001C0 (en) 2025-12-17
JP7127941B2 (ja) 2022-08-30
JP7040867B2 (ja) 2022-03-23
AU2022203622B2 (en) 2022-07-14
JP2021088358A (ja) 2021-06-10
CN109643367A (zh) 2019-04-16
WO2018015811A1 (en) 2018-01-25

Similar Documents

Publication Publication Date Title
US12469165B2 (en) Determining road location of a target vehicle based on tracked trajectory
JP7559296B2 (ja) 方法、システムおよびプログラム
US12147242B2 (en) Crowdsourcing a sparse map for autonomous vehicle navigation
US10248124B2 (en) Localizing vehicle navigation using lane measurements
US20210072031A1 (en) Active image sensing for a navgational system
EP4644839A2 (en) Systems and methods for vehicle navigation
US20200247431A1 (en) Systems and methods for vehicle navigation
US20240391494A1 (en) Radar-camera fusion for vehicle navigation
NL2039109A (en) Pseudo lidar data generation for vehicle navigation

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20190220

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
A201 Request for examination
AMND Amendment
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20200715

Comment text: Request for Examination of Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20220225

Patent event code: PE09021S01D

AMND Amendment
E601 Decision to refuse application
PE0601 Decision on rejection of patent

Patent event date: 20220830

Comment text: Decision to Refuse Application

Patent event code: PE06012S01D

Patent event date: 20220225

Comment text: Notification of reason for refusal

Patent event code: PE06011S01I

X091 Application refused [patent]
AMND Amendment
PX0901 Re-examination

Patent event code: PX09011S01I

Patent event date: 20220830

Comment text: Decision to Refuse Application

Patent event code: PX09012R01I

Patent event date: 20220425

Comment text: Amendment to Specification, etc.

Patent event code: PX09012R01I

Patent event date: 20200715

Comment text: Amendment to Specification, etc.

PX0601 Decision of rejection after re-examination

Comment text: Decision to Refuse Application

Patent event code: PX06014S01D

Patent event date: 20221212

Comment text: Amendment to Specification, etc.

Patent event code: PX06012R01I

Patent event date: 20221109

Comment text: Decision to Refuse Application

Patent event code: PX06011S01I

Patent event date: 20220830

Comment text: Amendment to Specification, etc.

Patent event code: PX06012R01I

Patent event date: 20220425

Comment text: Notification of reason for refusal

Patent event code: PX06013S01I

Patent event date: 20220225

Comment text: Amendment to Specification, etc.

Patent event code: PX06012R01I

Patent event date: 20200715

X601 Decision of rejection after re-examination