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1. 发明申请

US20170052032A1 METHOD AND SYSTEM FOR DETERMINING A POSITION RELATIVE TO A DIGITAL MAP 审中-公开
标题翻译：用于确定与数字地图相关的位置的方法和系统
公开(公告)号：US20170052032A1
公开(公告)日：2017-02-23
申请号：US15307393
申请日：2015-04-30
申请人： TomTom Global Content B.V.
发明人： Krzysztof Miksa , Rafal Jan Gliszczynski , Blazej Kubiak
IPC分类号： G01C21/30 , G06T7/00
CPC分类号： G01C21/30 , G01C21/28 , G06T7/50 , G06T2207/10004 , G06T2207/30252
摘要： A method of determining a longitudinal position of a vehicle (100) relative to a digital map is disclosed in which real time scan data (200, 202) is determined by scanning a lateral environment around the vehicle using at least one range-finder sensor, said real time scan data comprising one or more depth maps, each depth map representing the measured lateral distance to surfaces in the lateral environment for a plurality of longitudinal positions and elevations. Localisation reference data associated with the digital map for a deemed current longitudinal position of the vehicle (100) in relation to the digital map is retrieved, and compared to the real time scan data (200, 202) by calculating a cross-correlation to determine a longitudinal offset. The deemed current longitudinal position is adjusted based on said longitudinal offset to determine the longitudinal position of the vehicle (100) relative to the digital map.
摘要翻译：公开了一种确定车辆（100）相对于数字地图的纵向位置的方法，其中通过使用至少一个测距仪传感器扫描车辆周围的横向环境来确定实时扫描数据（200,202）所述实时扫描数据包括一个或多个深度图，每个深度图表示横向环境中针对多个纵向位置和高度的表面的测量横向距离。检索与车辆（100）相对于数字地图的认定的当前纵向位置的与数字地图相关联的定位参考数据，并通过计算互相关来确定与实时扫描数据（200,202）的比较纵向偏移。基于所述纵向偏移来调整所考虑的当前纵向位置，以确定车辆（100）相对于数字地图的纵向位置。

2. 发明授权

US11629962B2 Methods and systems for generating and using localization reference data 有权
公开(公告)号：US11629962B2
公开(公告)日：2023-04-18
申请号：US17700301
申请日：2022-03-21
申请人： TomTom Global Content B.V.
发明人： Krzysztof Kudrynski , Krzysztof Miksa , Rafal Jan Gliszczynski , Blazej Kubiak
IPC分类号： G01C21/00 , G08G1/123 , G01C21/30 , G06F16/29 , G01S17/89 , G01S13/89 , G01C21/28 , G06V20/56 , G01S19/42 , G06T7/73 , G01S13/86 , G06T7/50 , G01C21/36 , G06T7/55 , G06T7/521 , G01C21/32 , G01C21/34
摘要： Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.

3. 发明申请

US20190226853A1 Methods and Systems for Generating and Using Localisation Reference Data 审中-公开
公开(公告)号：US20190226853A1
公开(公告)日：2019-07-25
申请号：US16337253
申请日：2017-09-28
申请人： TomTom Global Content B.V.
发明人： Blazej Kubiak , Krzysztof Kudrynski , Krzysztof Miksa , Rafal Jan Gliszczynski
IPC分类号： G01C21/32 , G01S7/41 , G01S7/48 , G01S13/42 , G01S13/89 , G01S17/06 , G01S17/89
摘要： Methods and systems for classifying data points of a point cloud indicative of the environment around a vehicle by using features of a digital map relating to a deemed current position of the vehicle. Such methods and systems can be used to detect road actors, such as other vehicles, around a vehicle capable of sensing its environment as a point cloud; preferably used by highly and fully automated driving applications.

4. 发明申请

US20190003838A1 Methods and Systems for Generating and Using Localization Reference Data 审中-公开
公开(公告)号：US20190003838A1
公开(公告)日：2019-01-03
申请号：US15743591
申请日：2016-08-03
申请人： TomTom Global Content B.V.
发明人： Krzysztof Kudrynski , Krzysztof Miksa , Rafal Jan Gliszczynski , Blazej Kubiak
IPC分类号： G01C21/30 , G01S13/86 , G01C21/36 , G06F17/30 , G06T7/73 , G06T7/50
摘要： Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.

5. 发明申请

US20180209796A1 Methods and Systems for Generating and Using Localization Reference Data 审中-公开
公开(公告)号：US20180209796A1
公开(公告)日：2018-07-26
申请号：US15743550
申请日：2016-08-03
申请人： TomTom Global Content B.V.
发明人： Krzysztof Kudrynski , Krzysztof Miksa , Rafal Jan Gliszczynski , Blazej Kubiak
IPC分类号： G01C21/30 , G01C21/36 , G06T7/50 , G01S13/86 , G01S17/89 , G01S13/89
CPC分类号： G01C21/30 , G01C21/28 , G01C21/32 , G01C21/3415 , G01C21/367 , G01S13/865 , G01S13/867 , G01S13/89 , G01S17/89 , G06F16/29 , G06K9/00798 , G06T7/50 , G06T7/521 , G06T7/55 , G06T7/74 , G06T2207/10028 , G06T2207/30248 , G06T2207/30252
摘要： Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.

6. 发明公开

US20240263960A1 Generating Map Change Data 审中-公开
公开(公告)号：US20240263960A1
公开(公告)日：2024-08-08
申请号：US17801258
申请日：2021-02-19
申请人： TomTom Global Content B.V.
发明人： Krzysztof Miksa , Cornelis Pieter Schuerman , Michal Rosikiewicz
IPC分类号： G01C21/00 , B60W60/00
CPC分类号： G01C21/3807 , B60W60/001 , G01C21/3841 , G01C21/3878 , B60W2556/20 , B60W2556/40
摘要： Disclosed herein is a technique for generating map change data relative to the current map data and providing these changes to an autonomous vehicle for use in updating the current map data that it retrieves or obtains from a local storage. The technique processes observation data received from other vehicles to determine the map change data.

7. 发明授权

US11274928B2 Methods and systems for generating and using localization reference data 有权
公开(公告)号：US11274928B2
公开(公告)日：2022-03-15
申请号：US15743550
申请日：2016-08-03
申请人： TomTom Global Content B.V.
发明人： Krzysztof Kudrynski , Krzysztof Miksa , Rafal Jan Gliszczynski , Blazej Kubiak
IPC分类号： G01C21/30 , G06F16/29 , G01S17/89 , G01S13/89 , G01C21/28 , G01S13/86 , G06T7/50 , G01C21/36 , G06T7/55 , G06T7/521 , G01C21/32 , G06K9/00 , G06T7/73 , G01C21/34
摘要： Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.

8. 发明申请

US20140379254A1 POSITIONING SYSTEM AND METHOD FOR USE IN A VEHICLE NAVIGATION SYSTEM 审中-公开
标题翻译：用于车辆导航系统的定位系统和方法
公开(公告)号：US20140379254A1
公开(公告)日：2014-12-25
申请号：US14483238
申请日：2014-09-11
申请人： TomTom Global Content B.V.
发明人： Krzysztof Miksa , Krzysztof Smiechowicz , Hubert Nowak
IPC分类号： G01C21/30 , G01S5/16 , G01S17/02
CPC分类号： G01S5/16 , G01C21/32 , G01S7/4808 , G01S17/023 , G01S17/06 , G01S17/42 , G01S17/87 , G01S19/48
摘要： A positioning method for use in a vehicle navigation or mapping system is disclosed, and a system implementing such a method. The method comprises obtaining one or more sets of sensor measurement data from at least one sensor located on or in a vehicle, each set of sensor measurement being indicative of the distance of objects in an environment around the vehicle from the sensor, and each set of sensor measurement data comprising data obtained from a range of positions in a time or distance window along the direction of travel of the vehicle. A correlation procedure is performed correlating the one or more sets of sensor measurement data with stored reference sensor measurement data, and a relative position of the vehicle against stored location data associated with the stored reference sensor measurement data is determined in dependence on the correlation procedure.
摘要翻译：公开了一种在车辆导航或映射系统中使用的定位方法，以及实现这种方法的系统。该方法包括从位于车辆上或车辆中的至少一个传感器获得一组或多组传感器测量数据，每组传感器测量指示车辆周围的环境中的物体距传感器的距离，以及每组传感器测量数据包括从沿着车辆行进方向的时间或距离窗口中的位置范围获得的数据。执行将一个或多组传感器测量数据与存储的参考传感器测量数据相关联的相关程序，并且根据相关程序确定车辆对与存储的参考传感器测量数据相关联的存储的位置数据的相对位置。

9. 发明公开

US20230145649A1 Using Map Change Data 审中-公开
公开(公告)号：US20230145649A1
公开(公告)日：2023-05-11
申请号：US17801259
申请日：2021-02-19
申请人： TomTom Global Content B.V.
发明人： Krzysztof Miksa , Cornelis Pieter Schuerman , Michal Dominik Rosikiewicz
IPC分类号： G01C21/00 , B60W60/00
CPC分类号： G01C21/3815 , G01C21/3878 , G01C21/3881 , B60W60/001 , B60W2556/40 , B60W2556/45 , B60W2556/10
摘要： Disclosed herein is a technique for processing map change data in a map client that uses the map changes to apply changes and updates to current map data. The map client provides the updated map data to other components in an autonomous vehicle. The map change data describes the processing in the map client to obtain updated map data from the map data.

10. 发明授权

US11287264B2 Methods and systems for generating and using localization reference data 有权
公开(公告)号：US11287264B2
公开(公告)日：2022-03-29
申请号：US15741482
申请日：2016-08-03
申请人： TomTom Global Content B.V.
发明人： Krzysztof Kudrynski , Krzysztof Miksa , Rafal Jan Gliszczynski , Blazej Kubiak
IPC分类号： G01S13/89 , G01S17/89 , G01C21/30 , G06F16/29 , G01C21/28 , G01C21/00 , G01S13/86 , G06T7/50 , G01C21/36 , G06T7/55 , G06T7/521 , G01C21/32 , G06K9/00 , G06T7/73 , G01C21/34
摘要： ABSTRACT METHODS AND SYSTEMS FOR GENERATING AND USING LOCALISATION REFERENCE DATA 5 Methods and systems for improved positioning accuracy relative to a digital map are disclosed, and which are preferably used for highly and fully automated driving applications, and which may use localisation reference data associated with a digital map. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.

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