公开(公告)号：US09081383B1

公开(公告)日：2015-07-14

申请号：US14161295

申请日：2014-01-22

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  John Tisdale ,  Vadim Furman

IPC: G05D1/02 ,  G01C21/00 ,  G01C21/36

CPC classification number: G05D1/0274 ,  B60W30/00 ,  G01C21/005 ,  G01C21/3602 ,  G05D1/0212 ,  G05D1/0246 ,  G05D1/0248 ,  G06K9/00798 ,  G08G1/00 ,  G08G1/164

Abstract: Systems and methods are provided that may optimize basic models of an intersection in a roadway with high intensity image data of the intersection of the roadway. More specifically, parameters that define the basic model of the intersection in the roadway may be adjusted to more accurately define the intersection. For example, by comparing a shape of the intersection predicted by the basic model with extracted curbs and lane boundaries from elevation and intensity maps, the intersection parameters can be optimized to match real intersection-features in the environment. Once the optimal intersection parameters have been found, roadgraph features describing the intersection may be extracted.

Abstract translation: 提供了系统和方法，可以优化巷道交叉口的基本模型，并具有巷道交叉口的高强度图像数据。 更具体地，可以调整定义道路中的交叉路口的基本模型的参数以更准确地定义交叉点。 例如，通过将由基本模型预测的交点的形状与提取的路标和车道边界的高程和强度图进行比较，可以优化交点参数以匹配环境中的实际交叉特征。 一旦找到了最佳的交点参数，就可以提取描述十字路口的路标特征。

公开(公告)号：US09494942B1

公开(公告)日：2016-11-15

申请号：US14724243

申请日：2015-05-28

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  John Tisdale ,  Vadim Furman

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  B60W30/00 ,  G01C21/005 ,  G01C21/3602 ,  G05D1/0212 ,  G05D1/0246 ,  G05D1/0248 ,  G06K9/00798 ,  G08G1/00 ,  G08G1/164

Abstract: Systems and methods are provided that may optimize basic models of an intersection in a roadway with high intensity image data of the intersection of the roadway. More specifically, parameters that define the basic model of the intersection in the roadway may be adjusted to more accurately define the intersection. For example, by comparing a shape of the intersection predicted by the basic model with extracted curbs and lane boundaries from elevation and intensity maps, the intersection parameters can be optimized to match real intersection-features in the environment. Once the optimal intersection parameters have been found, roadgraph features describing the intersection may be extracted.

公开(公告)号：US09043072B1

公开(公告)日：2015-05-26

申请号：US13856822

申请日：2013-04-04

Applicant: Google Inc.

Inventor： John Tisdale ,  Russell Smith ,  Nathaniel Fairfield

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/021 ,  G01C21/14 ,  G01C21/28 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0213

Abstract: Methods and systems for correcting an estimated heading using a map are disclosed. Map data indicative of a map of an environment of a vehicle and data indicative of an estimated heading the vehicle is received. A sensor obtains first spatial data indicative of locations of objects in the environment relative to the vehicle at a first time. A first location of the vehicle on the map is determined based on the first spatial data. The sensor obtains second spatial data indicative of locations of objects in the environment relative to the vehicle at a second time. A second location of the vehicle on the map is determined based on the second spatial data. A heading correction of the vehicle is determined based on the estimated heading, the first location, the first time, the second location, and the second time, and a speed of the vehicle.

Abstract translation: 公开了使用地图校正估计航向的方法和系统。 指示车辆的环境的地图的数据的地图数据和指示车辆的估计方向的数据。 传感器首次获得指示环境中的物体相对于车辆的位置的第一空间数据。 基于第一空间数据确定车辆在地图上的第一位置。 该传感器在第二时间获得指示环境中的物体相对于车辆的位置的第二空间数据。 基于第二空间数据确定车辆在地图上的第二位置。 基于估计的航向，第一位置，第一时间，第二位置和第二时间以及车辆的速度来确定车辆的航向校正。