CN102997926A - Method for acquiring navigation data - Google Patents
Method for acquiring navigation data Download PDFInfo
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- CN102997926A CN102997926A CN2012103376987A CN201210337698A CN102997926A CN 102997926 A CN102997926 A CN 102997926A CN 2012103376987 A CN2012103376987 A CN 2012103376987A CN 201210337698 A CN201210337698 A CN 201210337698A CN 102997926 A CN102997926 A CN 102997926A
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- 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
- G01C21/3822—Road feature data, e.g. slope data
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- 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
- G01C21/3848—Data obtained from both position sensors and additional sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention relates to a calculation unit, a computer program product, and a method for acquiring navigation data, wherein a vehicle acquires characteristics of a street and/or an environment via the sensor, and wherein the vehicle determines positions of the characteristics, wherein, the characteristics and the positions of the characteristics are stored or transmitted to the external calculation unit as additional information of the navigation data.
Description
Technical field
The present invention relates to a kind of according to claim 1 be used to obtaining navigation data method, a kind of computer program according to claim 10 and a kind of according to claim 11 with 12 described computing units.
Background technology
The database of known various navigation datas be used to vehicle is provided in the prior art.
Summary of the invention
Task of the present invention is to provide a kind of method be used to obtaining navigation data.This task will and solve with 12 described computing units according to claim 11 by method according to claim 1, computer program according to claim 10.
Provided in the dependent claims other favourable embodiment of the present invention.
The advantage of the method is: provide this additional information by the vehicle collection additional information and for the navigation of vehicle.This will realize thus that namely vehicle obtains the position of feature and definite this feature of street and/or environment by means of sensor.Outside computing unit be stored and/or be transferred in the position of the feature of obtaining and the feature of obtaining will as the additional information of navigation data.Obtain by this way additional information, can determine that by means of those additional informations vehicle is with respect to the position of this feature.Can determine more accurately for example position of vehicle according to the feature of obtaining thus.
In another embodiment, determine that feature is with respect to the position of the useful information of navigation data.The relative position of this feature will be stored as the part of additional information.It is feasible storing thus feature with respect to the relative position of the useful information of the navigation data of having stored.Identifying in the situation of feature thus, can calculate the relative position with respect to the useful information of navigation data of vehicle.
In another embodiment, usually obtain the position of feature and this feature by one or many vehicles and with the position storage as this feature of the mean value of the position that obtains.Determine and store by this way the more accurately position of feature.
In another embodiment, the sensor that obtains feature is associated with identification information, also stores this identification information except additional information.Thus can be for example based on this identification information position of analytical characteristic and/or feature more accurately in the situation of considering this identification information.For example, the feature that only will be obtained by the identical sensor of identification information and the position of feature are used for the mean value of construction location.
In another embodiment, will additional information be transferred to outside computing unit by vehicle.Outside computing unit for example can be built in other the vehicle or be constructed to static computing unit.In addition, this static computing unit can transfer to vehicle with additional information.By means of the method can with other vehicle or feature and/or the position that obtains with the computing unit clearing house of static state.Thus can sharing information and can use information by many vehicles.
In another embodiment, carry out in the computing unit of static state the average of position or average to relative position, computing unit that wherein should static state transfers to vehicle again with average position.Implement the very large method of calculated amount in the part computing unit outside thus.In addition, outside computing unit for example can be considered position or the relative position of the feature obtained by different vehicles.When the identification information of sensor is known, especially can consider feature or position from different sensors.For example can consider the relative position of the sensor on the vehicle or different retrievable features based on this identification information.
In another embodiment, computing unit is determined to consider fiducial values about mean value and/or this computing unit of the position of the identical sensor of identification information based on a plurality of identification informations based on this identification information, in order to can consider the position of the sensor that identification information is different.
In another embodiment, traffic mark and/or runway geometric configuration are used as useful information.Can store thus the feature obtained with respect to the relative position of this useful information.
In another embodiment, for example will be identified as feature such as the crack on runway surface, pitch spot, the road surface characteristics that are used for the gully of street drainage.
Environmental information such as trees, house or other contingency element can be used as additional feature.
The invention has the advantages that, by receive the data from different vehicles such as the computing unit with the central authorities that are constructed to form server, for example to produce more high-quality map or additional information by means of data gathering.Can be by obtaining the feature of runway and/or environment with the different vehicle of different sensors at this, and consider that this feature is to improve the location.To use vehicle and data to be assembled sensor at this, with the data quality of realizing improving.At this, can separately store and the feature of the identical sensor of analysis and the feature of considering different sensor types or different vehicle separately or with being associated with each other.Realize thus improving the quality of data that is used for recognition feature.
Description of drawings
Below will further set forth with reference to the accompanying drawings the present invention.Wherein:
Fig. 1 shows the synoptic diagram at driver's visual angle;
Fig. 2 shows the synoptic diagram for the basic framework of transmission navigation data.
Embodiment
Fig. 1 shows from the synoptic diagram of the typical Driving Scene of the windshield 1 that sees through vehicle at driver's visual angle.Illustrate be positioned at vehicle front, have two tracks that separate 11, a runway 10 of 12.Vehicle mounting has sensing system 4, and this sensing system can be constructed to for example form of video sensing device.Can obtain and measure for example runway boundary marker 15,16 by means of this sensing system 4.Can determine for example bend curvature by means of this sensing system 4.The Another application situation of video sensor system may be the visual identity of traffic mark 17, and this traffic mark for example is the traffic mark with speed restriction.In addition, vehicle mounting has with the bearing circle 2 of steering angle sensor and the navigational system 8 of locating with GPS.Can determine bend curvature by this steering angle sensor equally.In addition, can be by following the tracks of the definite runway geometric configuration such as bend curvature of GPS track.The bend curvature representation of bend the useful information that is obtained by vehicle.
For this reason, navigational system 8 for example comprises corresponding software and corresponding data-carrier store.In addition, computing unit 18 can be set, it is connected with sensor, sensing system and navigational system 8 and analyzes and/or store the useful information that is obtained by sensor or sensing system.By using in combination a plurality of sensing systems and/or sensor, for example video system, steering angle sensor, GPS track can obtain vehicle movement well, thereby can accurately describe vehicle moving along runway.The analysis that can add is when needed for example carried out the location positioning of vehicle in runway by means of video sensor, thereby identifies for example taking a shortcut of bend.For further improvement system, can also use other sensor, for example rotational speed sensor or acceleration transducer.
The vehicle of equipment can be used in other useful information and enriches navigation data such as navigation map in this way.For example can obtain geological information about the street trend as useful information, the motion bend of especially accurate bend geometric configuration, the actual use of vehicle, the bend speed of the bend of namely taking a shortcut or crossing in the early time, the position of determining in the bend highway section.Can obtain in addition the object of street edge, such as the accurate position of traffic mark, traffic lights, turnout, crossroad or buildings.
By receiving the improvement that can reach system about the information of repeatedly travelling of one or many cars, and with this mode aggregate data, i.e. constantly study and improve constantly data.For example, in the situation of assembling such as the data of the geological information of position, street curvature etc., can construct the mean value of the different data of obtaining.Can obtain more accurately for example geometric configuration of bend by many travelling of repeating like this.Except the map of the numeral of navigational system 8, the more accurate position of this bend and/or more accurately trend also can be stored among the local data base within the navigational system 8 of vehicle.Through certain place of determining, the information of assembling is better more continually for vehicle.Also can among vehicle or static computing unit, collect, analyze in a similar manner and for example assemble data from different vehicle.Especially can calculate and store the mean value about collected data, especially about the mean value of geometric data (such as position or trend).Outside computing unit or the computing unit in the vehicle can offer the data of assembling other vehicle again.
Except obtaining and improving the useful data, the additional information of collecting useful data also is favourable.This additional information for example is the position from the retrievable feature of the environment of vehicle and this feature.Studies show that, have a large amount of characteristic feature, these features can be obtained and these features do not change its position by sensor.These features can be the characteristics in street, and for example texture, crack, color, roughness also can be the ingredients in street, such as fence of sign, street well lid, gully etc.In addition, this feature also can be the element of nature, such as trees, shrub, rock etc.In addition, this feature also can be buildings or module, such as electric pole, traffic lights etc.
Basic conception of the present invention is: by means of the database that improves the guiding, information and/or the navigation that are used for vehicle that obtains of additional information.
For example can revise the inaccuracy of GPS location of the self-position of vehicle by means of additional information.Based on the relative position of the feature of obtaining with respect to useful information, vehicle can obtain in the situation of this feature, determines more accurately its relative position with respect to useful information.
Feature in runway surface or the environment can be identified as the feature of runway and/or the environment of vehicle., for example can obtain by means of the video system of vehicle the structure of relevant color herein, for example in other retrievable structure of the pitch spot 6 on runway surface or crack 7 or runway and/or environment.The street inlet for stom water 5 that for example can be used for by means of video system identification in addition, street drainage.In addition, additionally or alternatively can obtain the street inlet for stom water by means of radar sensor, because this street inlet for stom water is comprised of iron and iron can affect the signal of sensor with characterizing.Therefore, can be by the characterization signal identification street inlet for stom water of radar sensor.In a similar manner, also other the accumulation (for example equipment of the iron in the street or bridge) of iron can be obtained as feature.In addition, vehicle can for example be located the absolute position of determining and storing the feature of identifying by means of navigational system and GPS.In addition, vehicle can store institute's recognition feature with respect to store in the navigational system the relative position of useful information (such as traffic marking board or buildings or corner, street or bend intermediate point).
Additionally store in addition the identification information for employed, as to be used for obtaining feature sensor.This identification information for example can comprise the information about the installation site of the type of sensor and/or the sensor on the vehicle.Thus for example calculating sensor with respect to the relative distance of the GPS locating device of vehicle, thereby can determine more accurately the absolute and relative position of the feature obtained.In addition, can recognition feature be by which kind of sensor type to be obtained based on this identification information.For example can mark and analyze together thus the feature of same or similar sensor.Can separately process the feature of being obtained by different sensors in addition.Can improve thus the precision of the method.
Another design proposal of the present invention is to collect and analyze the information of repeatedly travelling about for example car or different vehicle.For example can in the computing unit of central authorities, store, analytical information, i.e. additional information, and it is transferred to vehicle again.
Fig. 2 shows for coming middle ground to collect the synoptic diagram of the system of data by means of server as other computing unit 19.Vehicle 13 crosses a certain highway section and by means of sensing system 4 record additional informations, namely the absolute position of feature and feature or feature are with respect to the relative position of known useful information, and useful information for example is the object with position of known this locality.This feature for example can also be traffic mark, the traffic mark of for example identifying by means of the video sensing device.Can obtain in addition the runway geometric configuration as feature, for example this runway geometric configuration of the element describing on the discernible structure of vision or runway surface.
The feature that vehicle 13 will be obtained by vehicle and the position of feature or feature transfer to the computing unit 19 of central authorities with respect to the relative position of useful information by interface 20, and this central computing unit comprises the second interface 21 equally.In this central computing unit 19, collect from the additional information of different vehicles, and compress these additional informations by means of data gathering.For example, if holded up a new traffic mark, this traffic mark not yet is stored as useful information, and this traffic mark can represent the feature of additional information equally so.Be erected at the front traffic mark (speed limit 60km/h) of bend.The curvature of bend has peak point, does not allow to travel faster than 60km/h at this peak point place for the cause of safety.Traffic mark (60km/h) and the bend geometric configuration with curvature of restriction represent useful information.Simultaneously, " useful information traffic mark " also can be as having the feature of the relative position (for example 120 meters) with respect to the peak point of bend curvature maximum.As long as video sensor detects traffic mark, so with regard to the known accurate position of vehicle with respect to the peak point of the bend with definite curvature.In this case, this traffic mark both can be used as useful information (for the function such as the speed precaution device), again can be with acting on the feature of determining the relative position before bend.
In another form of implementation, when many vehicle identification to same traffic mark and when position or relative position having been transferred to computing unit 19, for example can realize the traffic mark information determined very much, it has the accurate position data of this traffic mark.For example vehicle can obtain by means of different video sensors traffic mark and with the location transmission of traffic mark and traffic mark to computing unit.For this reason, video sensor exemplarily comprises image-recognizing method, can identify the kind of this traffic mark by means of this image-recognizing method.
Exemplarily can be by means of the traffic mark of image-recognizing method identification with the 60km/h speed restriction.For example, if 18 vehicle identification arrive the speed restriction of 60km/h, and only have two vehicles to recognize the speed restriction of 90km/h, the computing unit speed restriction that can represent based on the traffic mark board that the analysis of statistics is determined to be obtained by vehicle thus is 60km/h so.This information can be sent to vehicle again.Thus, once identified the vehicle of wrong traffic mark and also can when crossing, identify the traffic signboard that this speed restriction is 60km/h based on the information that is provided by computing unit next time, although the video sensor of vehicle perhaps damages.
In the computing unit 19 of central authorities, for example can sensor-based identification information identify some vehicle and whether comprise high-precision sensor.Thus, for example when data gathering, preferably consider or have the data of high-precision sensor with the consideration of Factors Weighting ground.
The mean value of the absolute and/or relative position of the feature of exemplarily, obtaining can be assembled by composition data.If for example exist from the data of inferior sensor with from the data of the very high sensor of quality, data that so can the sensor that for example only using character is very high, with the absolute position of for example storing feature or the relative position of feature, and export again it to vehicle.
Exemplarily, when many vehicles with different video sensors report to the computing unit 19 of central authorities through traffic mark and with the feature obtained and position or relative position, can realize having the reliable traffic mark information of better position quality.Can obtain equally by this way high-precision runway geometric configuration, such as bend.To exemplarily obtain many vehicles at the exercise data in same place for this reason.For example can obtain exercise data with the form of for example curve movement by the sensor such as video sensor, steering angle sensor and gps system.Can by means of data gathering compression movement curve, for example consist of mean value.Therefore, the computing unit 19 of central authorities can obtain valuable and high-precision information about vehicle-periphery and transmit it to vehicle.
The vehicle information that can consider to provide for subsidiary function is shown for example perspectively thus.This information can be for example traffic mark information or runway geometric configuration.For this reason, vehicle can receive information about the position of feature and feature from the computing unit 19 of central authorities and/or from other vehicle.Vehicle can be bonded to these information local navigation map.Can use known method at this, such as map match.Because the inexactness of the inexactness of the map of numeral and GPS location can be by means of the data of additionally obtaining, the improvement of location is realized in the feature of namely obtaining and position thereof.
For many subsidiary functions, there be the as far as possible accurately demand of the position of positioned vehicle, for example automatic brake hard before the bend that travels too quickly.For this reason, for example can provide the relative position of the feature of obtaining with the feature relevant with the bend peak point of obtaining to vehicle.Exemplarily, this feature can be other structure of the pitch spot on crack, runway surface on runway surface or runway or environment, such as the draining inlet for stom water.Therefore, vehicle can be than the distance that is calculated to more accurately or earlier the bend peak point by means of traditional navigation data in the situation of obtaining the feature of storing, and for example earlier and/or more rightly automatically introduces the brake hard behavior.For this reason, vehicle has corresponding computing unit 18 and corresponding control module, and this control module participates in Vehicular system, such as engine, clutch coupling, detent.
These features can be used in the position of storage useful data, and useful data for example is with respect to the traffic mark of the position of feature or street geometric configuration.Vehicle is stored the relative distance between feature, the feature of obtaining and the useful information (traffic mark of for example having identified) in the data-carrier store of himself.Vehicle transfers to outside computing unit 19 with the relative distance between feature, the feature of obtaining and the useful information (traffic mark of for example identifying).Outside computing unit 19 is pass on vehicle to other with this information, thereby so that travel this identical highway section and vehicle that recognize the crack in the runway for example can additionally use this information at this runway afterwards, namely there is the traffic mark with the 60km/h speed restriction at distance 20m place.
By this way, follow-up vehicle can utilize this additional information to carry out its current location with respect to the high-precision location of useful information.For this reason, preferably with assemble about the communication of feature and position thereof to vehicle.Follow-up vehicle identifies it near useful information (such as traffic mark or definite runway geometric configuration) based on the visual field of its navigation preview by means of GPS location and exemplary electronics.This information is also relatively coarse.When the sensing device of vehicle recognizes feature in its environment, it can determine how far the vehicle distances useful information also has based on the relative distance between the feature of identifying and useful information of transmitting so.Can activate in time by this way driver assistance system and for example reduce speed.
What also can occur is that different vehicles uses different sensor distortion.Therefore, according to the difference of manufacturer, the video sensor on identification runway border can have higher or lower image resolution ratio.The sensitivity of brightness or the sensitivity of color can be different.Can utilize all sensors to be out of shape to obtain feature, such as crack, pitch spot, Sign Board etc.At this, can differently draw very much the signal that is obtained by sensor.As the same for radar or laser radar sensor.Similarly, radar or laser radar sensor can be used for identification object on every side, yet when recognition feature, the signal of these sensors can be very different, and especially depend on resolution, visual angle and employed technology.In extreme situation, vehicle uses the video sensor settled the forward form of traffic mark camera (for example with) to obtain feature.Other vehicle for example can use the video sensor (backup camera) of settling backward to obtain feature.The feature of obtaining, namely the signal of sensor will be because of different cameras, different object, different visual angle and/or different installation sites and difference.Therefore, another design proposal has designed: also comprise sensor information for the sensor that obtains feature, namely about the identification information of himself, it is stored in the outside computing unit equally.Therefore, outside computing unit can be stored the control signal of the feature of obtaining of different sensor distortion, and comes the mark sensor signal by sensor identification information.In this design proposal, follow-up vehicle for example may send to the server of central authorities its sensor information, and afterwards except useful data, only obtain sensor signal as the reflection to feature and position thereof, this sensor signal is produced by the sensor distortion that vehicle also has.
Can select thus to transfer to the data of vehicle and it correspondingly is matched to existing sensing system the vehicle from computing unit.Avoided by this way unnecessary data transfer.
In addition, computing unit 19 is the average sensor signal of identical sensor also, to obtain the sensor signal for the optimum of feature.Also can replace on average improving sensor signal with the method for other kinds.Can optimize sensor signal thus, and improve identification to same feature by another car thus.
The method does not also rely on the kind of employed sensor.In addition, computing unit 19 can use the signal of different sensors, with the identification of calibration feature.Exemplarily, vehicle can obtain the street well lid of definite position and the signal of video sensor is transferred to computing unit 19 by video sensor.In addition, the vehicle of same or other is by means of other sensor, such as radar sensor, obtain signal in the raising of the position of determining reflection and transmit it to computing unit 19.Computing unit 19 is identified in the characteristic feature that definite position exists based on the signal of different sensors.Improved thus the security of feature identification.
Claims (13)
1. method that is used for obtaining navigation data, wherein vehicle obtains the feature of street and/or environment by means of sensor, wherein said vehicle is determined the position of described feature, wherein outside computing unit is stored or transferred in the described position of described feature and described feature as the additional information of navigation data.
2. method according to claim 1 is the position of described feature with described feature with respect to the Relative position determination of the useful information of described navigation data wherein, and with part storage and/or the transmission of described relative position as described additional information.
3. according to each described method in the aforementioned claim, wherein usually obtain described feature and described position by one or many vehicles, and wherein the mean value of the position that obtains is stored as the position.
4. according to each described method in the aforementioned claim, wherein identification information is associated with described sensor, wherein also stores except described additional information and/or transmits described identification information.
5. according to each described method in the aforementioned claim, wherein by described vehicle described additional information is transferred to outside computing unit, the computing unit of wherein said outside is placed in another vehicle or is constructed to static computing unit.
According to claim 2 with 5 described methods, wherein in the computing unit of described static state, carry out the average of described position and/or average to described relative position, and the computing unit of wherein said static state transfers to vehicle with average position and/or described relative position and/or average geological information.
7. each described method according to claim 4-6, wherein said identification information comprises the information about the kind of described sensor, for example described sensor type and/or about described sensor in described vehicle the position or settle directed information.
According to claim 5 with 7 described methods, wherein said computing unit determines about the mean value of the position of the identical described sensor of identification information and/or wherein said computing unit for a plurality of identification information identification values based on described identification information, in order to can relatively assess and the average described position of the different sensor of identification information on the vehicle.
9. each described method according to claim 2-8 wherein is used as useful information with traffic mark and/or runway geometric configuration.
10. computer program with program code, when described computer program in the treating apparatus operation or when computer-readable data carrier is stored, it is used for the described method of executive basis claim 1-9 any one.
11. the computing unit of a vehicle, it is configured to the described method of any one among the executive basis claim 1-9.
12. outside computing unit, it is constructed to receive the feature of the street that obtained by described vehicle and/or environment and the position of the described feature obtained by described vehicle from vehicle, wherein, described computing unit is constructed to the described position of described feature and described feature is also transferred to vehicle again as the additional information storage.
13. outside computing unit according to claim 12, wherein said computing unit be constructed to the position of same feature of average many cars and/or same vehicle a plurality of measurements same feature the position and transfer to again vehicle.
Applications Claiming Priority (2)
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| DE102011082379.4 | 2011-09-08 | ||
| DE102011082379A DE102011082379A1 (en) | 2011-09-08 | 2011-09-08 | Method for detecting navigation data for navigating vehicle, involves storing feature and position of feature as additional information to navigation data, or transmitting additional information to external processing unit |
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| Publication Number | Publication Date |
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| CN102997926A true CN102997926A (en) | 2013-03-27 |
| CN102997926B CN102997926B (en) | 2017-06-16 |
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| CN201210337698.7A Active CN102997926B (en) | 2011-09-08 | 2012-09-06 | A kind of method for obtaining navigation data |
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| CN (1) | CN102997926B (en) |
| DE (1) | DE102011082379A1 (en) |
| FR (1) | FR2979987B1 (en) |
| IT (1) | ITMI20121443A1 (en) |
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| US10648828B2 (en) | 2014-02-03 | 2020-05-12 | Robert Bosch Gmbh | Method and apparatus for determining the position of a vehicle |
| CN108291814A (en) * | 2015-11-25 | 2018-07-17 | 大众汽车有限公司 | For putting the method that motor vehicle is precisely located, equipment, management map device and system in the environment |
| CN106686165A (en) * | 2016-12-30 | 2017-05-17 | 维沃移动通信有限公司 | Method for examining road conditions and mobile terminal |
| CN106686165B (en) * | 2016-12-30 | 2018-08-17 | 维沃移动通信有限公司 | A kind of method and mobile terminal of road conditions detection |
| CN110058260A (en) * | 2018-01-19 | 2019-07-26 | 罗伯特·博世有限公司 | Method for orienting the map of LIDAR system |
| JP2022500750A (en) * | 2018-09-11 | 2022-01-04 | コンティネンタル オートモーティヴ フランスContinental Automotive France | Systems and methods for unsupervised machine learning to locate road objects |
| JP7293344B2 (en) | 2018-09-11 | 2023-06-19 | コンティネンタル オートモーティヴ フランス | Systems and methods for localization of road objects by unsupervised machine learning |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102011082379A1 (en) | 2013-03-14 |
| FR2979987A1 (en) | 2013-03-15 |
| ITMI20121443A1 (en) | 2013-03-09 |
| FR2979987B1 (en) | 2016-02-19 |
| CN102997926B (en) | 2017-06-16 |
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