公开(公告)号：US12236691B2

公开(公告)日：2025-02-25

申请号：US17698721

申请日：2022-03-18

Applicant: HERE Global B.V.

Inventor： Zhenhua Zhang ,  Qi Mao ,  Xiaoying Jin ,  Lin Gan ,  Sanjay Kumar Boddhu

IPC: G06V20/56 ,  G06T7/60

Abstract: An approach is provided for lane width estimation from incomplete lane marking detections of a road lane. The approach, for example, involves generating one or more perpendicular lines respectively from location centers of one or more first lane marking detections. A respective lane marking detection represents at least a portion of a boundary of the road lane as a line delimited by two location data points in accordance with detections by at least one sensor device onboard at least one vehicle. The approach also involves identifying second lane marking detections that each respectively intersect one of the one or more perpendicular lines. The approach further involves selecting one or more candidate lane widths based on one or more respective distances from the location centers to the second lane marking detections. The approach further involves determining an estimated lane width of the road lane based on the one or more candidate lane widths.

公开(公告)号：US12242519B2

公开(公告)日：2025-03-04

申请号：US18081346

申请日：2022-12-14

Applicant: HERE Global B.V.

Inventor： Qi Mao ,  Zhenhua Zhang

IPC: G06F7/00 ,  G06F16/29 ,  G06F16/901 ,  G06F18/213 ,  G06F18/231 ,  G06F18/24

Abstract: An approach is provided for linear feature detection of cartographic features. The approach, for example, involves receiving a plurality of linear feature detections that represent one or more linear features of a geographic environment and are detected using at least one sensor. The approach also involves clustering the plurality of linear feature detections into at least one cluster and determining that the at least one cluster forms a polygon. The approach further involves cutting the polygon at one or more cut locations to form a plurality of sub-clusters of the plurality of linear feature detections. The approach further involves extracting respective centerlines for the plurality of sub-clusters and connecting the respective centerlines at the one or more cut locations to generate a network graph of the one or more linear features.

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.

公开(公告)号：US11015941B2

公开(公告)日：2021-05-25

申请号：US15990264

申请日：2018-05-25

Applicant: HERE Global B.V.

Inventor： Qi Mao ,  Qin Chen ,  Sanjay Kumar Boddhu

IPC: G01C21/32 ,  G01C21/36

Abstract: A method map matches probe data to a candidate road segment or node. Methods may include: searching for candidate road segments or nodes for each probe data point to be matched to, where searching for candidate road segments or nodes includes: searching within a predefined radius of each probe data point for road segments or nodes and in response to no road segments or nodes being found within the predefined radius of the respective probe data point, iteratively increasing the predefined radius and searching again until a predefined maximum radius is reached or at least two road segment candidates or node candidates are found; map matching each probe data point to a respective road segment candidate or node candidate based on the road segment candidate or node candidate found in the search; and generating a path based on the map matched probe data points from a respective probe.