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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

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.

3. 发明申请

US20220214174A1 Methods and Systems for Generating and Using Localization Reference Data 有权
公开(公告)号：US20220214174A1
公开(公告)日：2022-07-07
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： G01C21/30 , G06F16/29 , G01S17/89 , G01S13/89 , G01C21/28 , G01C21/00 , G06V20/56 , G01S13/86 , G06T7/50 , G01C21/36 , G06T7/55 , G06T7/521 , G01C21/32 , G06T7/73
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.

4. 发明授权

US11137255B2 Methods and systems for generating and using localization reference data 有权
公开(公告)号：US11137255B2
公开(公告)日：2021-10-05
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 , 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.

5. 发明授权

US10948302B2 Methods and systems for generating and using localization reference data 有权
公开(公告)号：US10948302B2
公开(公告)日：2021-03-16
申请号：US15743451
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. A vehicle localization is obtained by comparing real time depth map acquired by a sensor associated to the vehicle to a depth map associated to a digital map. The depth maps are indicative of an environment around the vehicle. Longitudinal and lateral offsets of the vehicle with respect to the digital map are determined. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.

6. 发明申请

US20180364349A1 Methods and Systems for Generating and Using Localization Reference Data 审中-公开
公开(公告)号：US20180364349A1
公开(公告)日：2018-12-20
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： G01S13/86 , G06T7/521 , G01C21/32 , G01S13/89 , G01S17/89 , G06T7/55 , G06K9/00
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. 10

7. 发明申请

US20180202814A1 Methods and Systems for Generating and Using Localization Reference Data 审中-公开
公开(公告)号：US20180202814A1
公开(公告)日：2018-07-19
申请号：US15743451
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 , G06T7/50 , G01S13/89 , G06F17/30
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. A vehicle localization is obtained by comparing real time depth map acquired by a sensor associated to the vehicle to a depth map associated to a digital map. The depth maps are indicative of an environment around the vehicle. Longitudinal and lateral offsets of the vehicle with respect to the digital map are determined. The invention further extends to methods and systems for the generation of localisation reference data associated with a digital map.

8. 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.

9. 发明授权

US11085775B2 Methods and systems for generating and using localisation reference data 有权
公开(公告)号：US11085775B2
公开(公告)日：2021-08-10
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 , G06T3/00 , G01S19/46 , G01S7/48 , G06K9/00 , G01S17/06 , G01S17/89 , G01S7/41 , G01S13/42 , G01S13/89 , G01S19/49 , G01S19/48 , G01S13/931
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.

10. 发明授权

US10240934B2 Method and system for determining a position relative to a digital map 有权
公开(公告)号：US10240934B2
公开(公告)日：2019-03-26
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 , H04N13/00 , G01C21/28 , G06T7/50
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. Localization 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.

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