公开(公告)号：US12181290B2

公开(公告)日：2024-12-31

申请号：US17576367

申请日：2022-01-14

Applicant: HERE Global B.V.

Inventor： Liming Wang ,  Qin Chen

IPC: G01C21/26 ,  G01B11/24 ,  G01C21/00 ,  G01C21/32

Abstract: Systems and methods for the detection and analysis of curvature data are described. A method includes: receiving position data of a vehicle turning maneuver along a portion of a roadway, where the position data includes measured position data collected by sensors of a vehicle while traversing the vehicle turning maneuver; associating the received position data with map data of the portion of the roadway; generating a spline based on the position data, the spline being a smooth curve representing the vehicle turning maneuver from a first road segment to a second road segment; identifying a segment of the spline containing a turning point of the vehicle turning maneuver, the turning point representing a change of a vehicle path from along the first road segment to along the second road segment; and determining a maximum curvature value for the identified segment of the spline.

公开(公告)号：US11420649B2

公开(公告)日：2022-08-23

申请号：US16827945

申请日：2020-03-24

Applicant: HERE Global, B.V.

Inventor： Ole Henry Dorum ,  Liming Wang

IPC: G08G1/056 ,  B60W60/00 ,  G06K9/62

Abstract: A method is provided for gathering probe data and using the gathered data to creating map intersection turn paths. Methods may include: receiving probe data from a plurality of probes passing through an intersection; identifying a turn maneuver of the intersection including at least an incoming and an outgoing road link; map matching probe data from the plurality of probes passing through the intersection to the turn maneuver, where probe data map matched to the turn maneuver includes turn maneuver probe data; identifying a plurality of seed points, where the plurality of seed points are iteratively created from the turn maneuver probe data; generating a curve representing a geometric shape of a turn path corresponding to the turn maneuver using the seed points; fitting a spline to vertices of the curve representing a geometric shape of the turn path; and providing for guidance of a vehicle based on the spline of the turn path.

公开(公告)号：US20220228873A1

公开(公告)日：2022-07-21

申请号：US17576367

申请日：2022-01-14

Applicant: HERE Global B.V.

Inventor： Liming Wang ,  Qin Chen

IPC: G01C21/32 ,  G01B11/24 ,  G01C21/26

Abstract: Systems and methods for the detection and analysis of curvature data are described. A method includes: receiving position data of a vehicle turning maneuver along a portion of a roadway, where the position data includes measured position data collected by sensors of a vehicle while traversing the vehicle turning maneuver; associating the received position data with map data of the portion of the roadway; generating a spline based on the position data, the spline being a smooth curve representing the vehicle turning maneuver from a first road segment to a second road segment; identifying a segment of the spline containing a turning point of the vehicle turning maneuver, the turning point representing a change of a vehicle path from along the first road segment to along the second road segment; and determining a maximum curvature value for the identified segment of the spline.

公开(公告)号：US11906309B2

公开(公告)日：2024-02-20

申请号：US17031494

申请日：2020-09-24

Applicant: HERE GLOBAL B.V.

Inventor： Qi Mao ,  Qin Chen ,  Liming Wang

IPC: G01C21/30 ,  G06F16/29 ,  G01C21/32 ,  G01C21/34 ,  G06F18/24

CPC classification number: G01C21/30 ,  G01C21/32 ,  G01C21/3461 ,  G06F16/29 ,  G06F18/24

Abstract: An approach is provided for providing a map matcher tolerant to wrong map features. The approach involves, for instance, finding a segment of a probe trajectory containing a plurality of low-speed probe points. The approach also involves forming a line between a first and a last probe point of the segment. The approach further involves calculating a distance from each probe point of the segment to the line. The approach further involves splitting the segment based on comparing the distance to a threshold at a turning point of the segment. The approach further involves creating a new probe trajectory based on a plurality of high-speed probe points in the probe trajectory and the turning point. The approach further involves estimating a heading of the turning point of the segment based on the new trajectory, and then performing a feasibility check between two consecutive probe points of the new trajectory.