Tomtom Global Content B.v.

Tomtom Polska Sp. Z O.o

Other

Tom Tom International B.v.

Tomtom North America, Inc.

Teleatlas B.v.

Krzysztof Miksa

Rafal Jan Gliszczynski

Blazej Kubiak

Krzysztof Kudrynski

Marcin Michal Kmiecik

Cornelis Pieter Schuerman

James Edward Hagan

Michal Dominik Rosikiewicz

Krzysztof Smiechowicz

Jay Clark

Marcus Winkler

Lukasz Piotr Taborowski

James Hagan

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.

Updating map features in high definition map data using map change data

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.

Methods and systems for generating and using localization reference data

ABSTRACT METHODS AND SYSTEMS FOR GENERATING AND USING LOCALISATION REFERENCE DATAMethods 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.

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.

Methods and systems for generating and using localisation reference data

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.

A method of determining a longitudinal position of a vehicle () relative to a digital map is disclosed in which real time scan data () 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 () in relation to the digital map is retrieved, and compared to the real time scan data () 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 () relative to the digital map.

Method and system for determining a position relative to a digital map

A navigation system for use in a vehicle (). The system includes an absolute position sensor, such as GPS, in addition to one or more additional sensors, such as a camera, laser scanner, or radar. The system further comprises a digital map or database that includes records for at least some of the vehicle's surrounding objects (). These records can include relative positional attributes with respect to a reference axis (). As the vehicle () moves, sensors sense the presence of at least some of these objects (), and measure the vehicle's relative position to those objects. This information is used to determine the vehicle's instantaneous lateral offset () relative to the reference axis (), and support features such as enhanced driving directions, collision avoidance, or automatic assisted driving. The system also allows new objects () to be attributed using relative positioning, and thereby factored into the enhanced navigation features.

System and method for vehicle navigation using lateral offsets

A method of generating a geodetic reference database product is disclosed The method comprises acquiring mobile mapping data captured by means of digital cameras, range sensors and position determination means including GPS and IMU mounted to a vehicle driving across the earth surface, the mobile mapping data comprising simultaneously captured image data, range data and associated position data in a geographic coordinate system. Linear stationary earth surface features are derived from the mobile mapping data by processing the image data, range data and associated position data. 3D-models are generated for the linear stationary earth surface features in the geographic coordinate system from the image data, range data and associated position data and stored in a database to obtain the geodetic reference database product. A 3D-model could include an image representing the colors of the surface of the 3D model or a set of smaller images representing photo-identifiable objects along the model. The 3D-models could be used to rectify aerial imagery, to correct digital elevation models and to improve the triangulation of digital elevation models.

Method of generating a geodetic reference database product

A navigation method and navigation system are disclosed. In at least one embodiment, the method has the following actions: a.) receiving position data from a position determining device; b.) when approaching a junction with the navigation system, displaying the junction view on a display, the junction view showing data as to a real-life view of the junction inclusive of an image of each signpost present on the junction as visible to a user of the navigation system; c.) receiving route information from route planning software indicating a route to be followed by the user; and d.) highlighting on the display a signpost related to a road segment to be followed by the user relative to all other signposts as shown on the display.

Apparatus for and method of junction view display

A method of reducing the spatial resolution of images is disclosed. At least one embodiment of the method includes: &#x2014;acquiring an input image including image parts having a spatial resolution larger than SR pixels/meter; &#x2014;acquiring a depth map associated with the input image; &#x2014;determining for each pixel p(x,y) a spatial resolution value by means of the depth map; &#x2014;processing a region of pixels of the input image for which holds that the spatial resolution value is larger than a predefined threshold corresponding to SR pixels/meter to obtain a corresponding region of pixels having a spatial resolution smaller then or equal to SR pixels/meter in an output image. The method enables to removes privacy information from images by reducing the spatial resolution to a level that the privacy information cannot be recognized in the image anymore.

Method of and arrangement for blurring an image

In one embodiment of the present invention, a method of and apparatus for determining inaccurate GPS samples in a set of GPS samples is disclosed, according to the following actions: a) obtaining GPS samples as taken by a global positioning system on board a vehicle when traveling along a trajectory; b) obtaining a first estimation of the trajectory based on the GPS samples; c) obtaining a second estimation of the trajectory at least based on measurements made by an inertial measurement unit on board vehicle when traveling along the trajectory; d) comparing the first and second estimations; e) establishing locations where the first estimation shows a variation compared with the second estimation above a predetermined threshold; f) if no such locations can be established continue with action j), otherwise continue with action g); g) removing GPS samples associated with the locations of high variation as being inaccurate GPS samples, thus forming a set of remaining GPS samples; h) calculating the first estimation anew of the trajectory based on the remaining GPS samples and calculating the second estimation anew; i) repeating actions d) to h); j) ending the actions.

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Lodz, Poland

Krzysztof Miksa