US 12,761,028 B2Granted

Aligning road information for navigation

AssigneeMobileye Vision Technologies Ltd.

InventorsDori Shapira, Igor Tubis, Uri Rokni, Nir Ratner

Life of this patent

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Abstract

The present disclosure relates to systems and methods for aligning navigation information from a plurality of vehicles. In one implementation, at least one processing device may receive first navigational information from a first vehicle and second navigational information from a second vehicle. The first and second navigational information may be associated with a common road segment. The processor may divide the common road segment into a first road section and a second road section that join at a common point. The processor may then align the first and second navigational information by rotating at least a portion of the first navigational information or the second navigational information relative to the common point. The processor may store the aligned navigational information in association with the common road segment and send the aligned navigational information to vehicles for use in navigating along the common road segment.

Claims26

Dependent claims

A non-transitory, computer-readable medium storing instructions that, when executed by at least one processor, cause the at least one processor to:

receive first navigational information collected by a first vehicle;
receive second navigational information collected by a second vehicle, wherein the first navigational information and the second navigational information are associated with a road segment;
divide the first navigational information into at least a first portion and a second portion, and divide the second navigational information into at least a first portion and a second portion, wherein:
the first portion of the first navigational information and the first portion of the second navigational information represent a common first section of the road segment, and the second portion of the first navigational information and the second portion of the second navigational information represent a common second section of the road segment, and
the first portion of the second navigational information and the second portion of the second navigational information share at least a common point, the common point being positioned at ends of the first portion of the second navigational information and the second portion of the second navigational information closest to each other, wherein the common point links the first portion of the second navigational information and the second portion of the second navigational information and represents a point around which the second portion of the second navigational information is rotated relative to the first portion of the second navigational information for aligning navigational information;
align the first portion of the first navigational information with the first portion of the second navigational information, and align the second portion of the first navigational information with the second portion of the second navigational information, wherein aligning the second portion of the first navigational information with the second portion of the second navigation information includes rotating the second portion of the second navigational information relative to the first portion of the second navigational information, such that the second portion of the second navigational information is rotated about the common point relative to the first portion of the second navigational information;
generate a road model based on the aligned portions;
send at least a portion of the road model to one or more vehicles for use in navigating the one or more vehicles along the road segment;
and
cause the one or more vehicles to implement at least one vehicle control action based on the at least a portion of the road model.

7 more elements

A server for aligning navigation information from a plurality of vehicles, the server comprising:

at least one processor programmed to:
receive first navigational information collected by a first vehicle;
receive second navigational information collected by a second vehicle, wherein the first navigational information and the second navigational information are associated with a road segment;
divide the first navigational information into at least a first portion and a second portion, and divide the second navigational information into at least a first portion and a second portion, wherein:
the first portion of the first navigational information and the first portion of the second navigational information represent a common first section of the road segment, and the second portion of the first navigational information and the second portion of the second navigational information represent a common second section of the road segment, and
the first portion of the second navigational information and the second portion of the second navigational information share at least a common point, the common point being positioned at ends of the first portion of the second navigational information and the second portion of the second navigational information closest to each other, wherein the common point links the first portion of the second navigational information and the second portion of the second navigational information and represents a point around which the second portion of the second navigational information is rotated relative to the first portion of the second navigational information for aligning navigational information;
align the first portion of the first navigational information with the first portion of the second navigational information, and align the second portion of the first navigational information with the second portion of the second navigational information, wherein aligning the second portion of the first navigational information with the second portion of the second navigation information includes rotating the second portion of the second navigational information relative to the first portion of the second navigational information, such that the second portion of the second navigational information is rotated about the common point relative to the first portion of the second navigational information;
generate a road model based on the aligned portions;
send at least a portion of the road model to one or more vehicles for use in navigating the one or more vehicles along the road segment;
and
cause the one or more vehicles to implement at least one vehicle control action based on the at least a portion of the road model.

8 more elements

A computer-implemented method for aligning navigation information from a plurality of vehicles, the method comprising:

receiving first navigational information collected by a first vehicle;
receiving second navigational information collected by a second vehicle, wherein the first navigational information and the second navigational information are associated with a road segment;
dividing the first navigational information into at least a first portion and a second portion, and dividing the second navigational information into at least a first portion and a second portion, wherein:
the first portion of the first navigational information and the first portion of the second navigational information represent a common first section of the road segment, and the second portion of the first navigational information and the second portion of the second navigational information represent a common second section of the road segment, and
the first portion of the second navigational information and the second portion of the second navigational information share at least a common point, the common point being positioned at ends of the first portion of the second navigational information and the second portion of the second navigational information closest to each other, wherein the common point links the first portion of the second navigational information and the second portion of the second navigational information and represents a point around which the second portion of the second navigational information is rotated relative to the first portion of the second navigational information for aligning navigational information;
aligning the first portion of the first navigational information with the first portion of the second navigational information, and aligning the second portion of the first navigational information with the second portion of the second navigational information, wherein aligning the second portion of the first navigational information with the second portion of the second navigation information includes rotating the second portion of the second navigational information relative to the first portion of the second navigational information, such that the second portion of the second navigational information is rotated about the common point relative to the first portion of the second navigational information;
generating a road model based on the aligned portions;
sending at least a portion of the road model to one or more vehicles for use in navigating the one or more vehicles along the road segment;
and
causing the one or more vehicles to implement at least one vehicle control action based on the at least a portion of the road model.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/975,258Filed 27 Oct 2022 · continuation
Priority: 7 Mar 2019
Published: US 2023/0073897 A19 Mar 2023
Granted: 13 Oct 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification5 codes

G01C 21/32
Map- or contour-matching: structuring or formatting of map data
G05D 1/028
Using signals provided by a source external to the vehicle: using a RF signal
G05D 1/0285
Using signals provided by a source external to the vehicle: using signals transmitted via a public communication network, e.g. GSM network
G01C
Measuring distances, levels or bearings

Family

Application62/815,045Us provisional application · filed 7 Mar 2019
Application62/874,711Us provisional application · filed 16 Jul 2019
Application16/811,017Parent of this continuation · filed 6 Mar 2020
US 2023/0073897 A1Pre-grant publication · published 9 Mar 2023
US 11,499,834 B2Parent of this continuation
US 2020/0284591 A1Published application
US 12,761,028 B2This patent

From the US filing history. Foreign family members aren’t listed.