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1. WO2020112827 - LANE MAPPING AND NAVIGATION

Publication Number WO/2020/112827
Publication Date 04.06.2020
International Application No. PCT/US2019/063326
International Filing Date 26.11.2019
IPC
G01C 21/32 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
32Structuring or formatting of map data
G01C 21/36 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
34Route searching; Route guidance
36Input/output arrangements for on-board computers
G06K 9/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
CPC
G01C 21/32
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
32Structuring or formatting of map data
G01C 21/3602
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
36Input/output arrangements for on-board computers
3602Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
G01C 21/3658
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
36Input/output arrangements for on-board computers
3626Details of the output of route guidance instructions
3658Lane guidance
G06K 9/00208
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00201Recognising three-dimensional objects, e.g. using range or tactile information
00208by matching two-dimensional images to three-dimensional objects
G06K 9/00798
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
00798Recognition of lanes or road borders, e.g. of lane markings, or recognition of driver's driving pattern in relation to lanes perceived from the vehicle; Analysis of car trajectory relative to detected road
G06K 9/00805
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
00805Detecting potential obstacles
Applicants
  • MOBILEYE VISION TECHNOLOGIES LTD. [IL]/[IL]
  • SHAPIRA, Dori [IL]/[IL]
  • BRAUNSTEIN, Daniel [IL]/[IL]
  • GDALYAHU, Yoram [IL]/[IL]
  • VIENTE, Kfir [IL]/[IL]
  • SCHWARTZ, Maxim [IL]/[IL]
  • PEKER, Eli [IL]/[IL]
  • HUBERMAN, David [IL]/[IL]
  • LEVIN, Moshe [US]/[IL]
  • BARLEV, Jonathan [US]/[IL]
  • ZACKAY, Ora [IL]/[IL]
  • HAYAT, Adi [IL]/[IL]
  • FERENCZ, Andras [US]/[US]
  • EAGELBERG, Dor [IL]/[IL]
Inventors
  • SHAPIRA, Dori
  • BRAUNSTEIN, Daniel
  • GDALYAHU, Yoram
  • VIENTE, Kfir
  • SCHWARTZ, Maxim
  • PEKER, Eli
  • HUBERMAN, David
  • LEVIN, Moshe
  • BARLEV, Jonathan
  • ZACKAY, Ora
  • HAYAT, Adi
  • FERENCZ, Andras
  • EAGELBERG, Dor
Agents
  • LOMBARDI, Anthony J.
Priority Data
62/771,33526.11.2018US
62/795,86823.01.2019US
62/800,84504.02.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) LANE MAPPING AND NAVIGATION
(FR) CARTOGRAPHIE ET NAVIGATION DE VOIES
Abstract
(EN)
Systems and methods are disclosed for mapping lanes for use in vehicle navigation. In one implementation, at least one processing device may be programmed to receive navigational information from a first vehicle and a second vehicle that have navigated along a road segment including a lane split feature; receive at least one image associated with the road segment; determine, from the first navigational information, a first actual trajectory of the first vehicle and a second actual trajectory of the second vehicle; determine a divergence between the first actual trajectory and the second actual trajectory; determine, based on analysis of the at least one image, that the divergence between the first actual trajectory and the second actual trajectory is indicative of the lane split feature; and update a vehicle road navigation model to include a first target trajectory and a second target trajectory that branches from the first target trajectory after the lane split feature.
(FR)
L'invention concerne des systèmes et des procédés pour cartographier des voies destinés à être utilisés dans une navigation de véhicule. Dans un mode de réalisation, au moins un dispositif de traitement peut être programmé pour recevoir des informations de navigation d'un premier véhicule et d'un second véhicule ayant navigué le long d'un tronçon de route comprenant une caractéristique de division de voie ; recevoir au moins une image associée au tronçon de route ; déterminer, à partir des premières informations de navigation, une première trajectoire réelle du premier véhicule et une seconde trajectoire réelle du second véhicule ; déterminer une divergence entre la première trajectoire réelle et la seconde trajectoire réelle ; déterminer, sur la base d'une analyse de la ou des images, que la divergence entre la première trajectoire réelle et la seconde trajectoire réelle indique la caractéristique de division de voie ; et mettre à jour un modèle de navigation routière de véhicule de sorte à inclure une première trajectoire cible et une seconde trajectoire cible qui se ramifie à partir de la première trajectoire cible après la caractéristique de division de voie.
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