Abstract: A method and control system for generating and updating digital maps using a plurality of passages along a road portion by at least one road vehicle is provided. The method comprises obtaining positioning data and sensor data of each passage from the at least one road vehicle. Further, the method comprises forming a sub-map representation of the surrounding environment at each obtained longitudinal position based on the obtained sensor data, and estimating a longitudinal error for each obtained longitudinal position within each segment. Furthermore, the method comprises determining a new plurality of longitudinal positions of each road vehicle for each passage by applying the estimated longitudinal error on each corresponding obtained longitudinal position, and applying the determined new plurality of longitudinal positions on associated sensor data in order to generate a first layer of a map representation of the surrounding environment along the road portion.

Abstract: A method, system and computer program product for determining a map position of an ego-vehicle are disclosed. The method includes acquiring map data comprising a road geometry, initializing at least one dynamic landmark by measuring a position and velocity, relative to the ego-vehicle, of a surrounding vehicle, and determining a first map position of the surrounding vehicle based on this measurement and the geographical position of the ego-vehicle. Further, the method includes predicting a second map position of the surrounding vehicle, and measuring a location, relative to the ego-vehicle, of the surrounding vehicle when it is estimated to be at the second map position, whereby the geographical position of the ego-vehicle can be computed and updated.

Abstract: The present invention relates to methods and systems that utilize the production vehicles to develop new perception features related to new sensor hardware as well as new algorithms for existing sensors by using self-supervised continuous training. To achieve this the production vehicle's own perception output is fused with other sensors in order to generate a bird's eye view of the road scenario over time. The bird's eye view is synchronized with buffered sensor data that was recorded when the road scenario took place and subsequently used to train a new perception model to output the bird's eye view directly.

Abstract: A method for utilizing a trip history of a vehicle during a trip from an original position to a destination includes: (a) determining the original position; (b) comparing the original position to a mapping database covering the trip; (c) determining a road segment of the mapping database associated to the original position; (d) determining a current position during the trip; (e) comparing the current position to the mapping database; (f) determining a road segment of the mapping database associated to the current position; (g) setting the road segment as a link of the trip; (h) repeating (e)-(g) until the destination is reached; (i) determining the destination; (j) comparing the destination to the mapping database; (k) determining a road segment of the mapping database associated to the destination; and (l) representing the trip as connected links between the original position and destination, each link corresponding to a road segment.

Abstract: The present disclosure relates to a method for determining a vehicle pose, predicting a pose (xk, yk, ?k) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and predicted pose of the vehicle. The transformed set of map road references form a set of polylines in image-frame coordinate system. Identifying a set of corresponding image road reference features in an image acquired by vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (xi, yi) in image-frame. Projecting each of identified set of image road reference features onto formed set of polylines in order to obtain a set of projection points.

Abstract: A method and control system for generating and updating digital maps using a plurality of passages along a road portion by at least one road vehicle is provided. The method comprises obtaining positioning data and sensor data of each passage from the at least one road vehicle. Further, the method comprises forming a sub-map representation of the surrounding environment at each obtained longitudinal position based on the obtained sensor data, and estimating a longitudinal error for each obtained longitudinal position within each segment. Furthermore, the method comprises determining a new plurality of longitudinal positions of each road vehicle for each passage by applying the estimated longitudinal error on each corresponding obtained longitudinal position, and applying the determined new plurality of longitudinal positions on associated sensor data in order to generate a first layer of a map representation of the surrounding environment along the road portion.

Abstract: A method for utilizing a trip history of a vehicle during a trip from an original position to a destination includes: (a) determining the original position; (b) comparing the original position to a mapping database covering the trip; (c) determining a road segment of the mapping database associated to the original position; (d) determining a current position during the trip; (e) comparing the current position to the mapping database; (f) determining a road segment of the mapping database associated to the current position; (g) setting the road segment as a link of the trip; (h) repeating (e)-(g) until the destination is reached; (i) determining the destination; (j) comparing the destination to the mapping database; (k) determining a road segment of the mapping database associated to the destination; and (1) representing the trip as connected links between the original position and destination, each link corresponding to a road segment.

Abstract: A method, system and computer program product for determining a map position of an ego-vehicle are disclosed. The method includes acquiring map data comprising a road geometry, initializing at least one dynamic landmark by measuring a position and velocity, relative to the ego-vehicle, of a surrounding vehicle, and determining a first map position of the surrounding vehicle based on this measurement and the geographical position of the ego-vehicle. Further, the method includes predicting a second map position of the surrounding vehicle, and measuring a location, relative to the ego-vehicle, of the surrounding vehicle when it is estimated to be at the second map position, whereby the geographical position of the ego-vehicle can be computed and updated.

Abstract: A system for adjusting a road boundary of a two dimensional virtual representation of a road for path planning of an autonomous vehicle includes a retrieval unit to retrieve a measured position and measured heading angle of the vehicle with respect to a reference. The system also includes an uncertainty unit to receive the measured position, the measured heading angle and map data of the road, and to determine a position uncertainty value and a heading angle uncertainty value representing an amount of uncertainty in the vehicle position and heading angle, respectively, on the road based on the input. The system also includes an adjustment unit to adjust a width and a heading angle of a drivable portion of the two dimensional virtual representation of the road, wherein the adjustment of the width and heading angle is based on the position uncertainty value and the heading angle uncertainty value, respectively.

Abstract: A method for utilizing a trip history of a vehicle during a trip from an original position to a destination includes: (a) determining the original position; (b) comparing the original position to a mapping database covering the trip; (c) determining a road segment of the mapping database associated to the original position; (d) determining a current position during the trip; (e) comparing the current position to the mapping database; (f) determining a road segment of the mapping database associated to the current position; (g) setting the road segment as a link of the trip; (h) repeating (e)-(g) until the destination is reached; (i) determining the destination; (j) comparing the destination to the mapping database; (k) determining a road segment of the mapping database associated to the destination; and (l) representing the trip as connected links between the original position and destination, each link corresponding to a road segment.

Abstract: Disclosed herein is a method and arrangement for monitoring and adapting the performance of a fusion system of an autonomous road vehicle. A drivable area is determined by combining a localization function and high density map data. Information on surrounding objects is determined, comprising determining the localization and classifying the surrounding objects, estimating their physical property states, and assigning them extension descriptions. Information on the drivable area and surrounding objects is condensed into observed areas, monitored by sensors of the environmental perception function with a predetermined degree of certainty, and prioritized objects, represented by classes, state estimates and extension descriptions.

Abstract: A method for generating navigation data for a vehicle using a vehicle and a navigation device, said vehicle comprising a set of sensors, said method comprising the steps of: travelling along a road, detecting at least one landmark, determining if said at least one landmark has a shape correlating to the main direction of said road. Approving the at least one landmark as a landmark for landmark navigation or approving an associated section of the road for landmark navigation.

Abstract: A method performed by a database managing system for maintaining a database comprising reported traffic-affecting events is provided. The system derives a position of a first vehicle supporting detection of vehicle surroundings and determines by comparing the vehicle position to positions of reported traffic-affecting events comprised in the database, that the first vehicle is approaching at least a first traffic-affecting event. The system prompts the first vehicle to attempt to detect the first traffic-affecting event, which prompting comprises providing to the first vehicle an expected position of the first traffic-affecting event. The system receives a response from the first vehicle, which response indicates whether or not the expected position was at least partly unobstructedly observable by the first vehicle.

Abstract: A method and arrangement for determining safe vehicle trajectories for a vehicle equipped with sensors for monitoring a surrounding environment, taking into account sensing limitations, as well as a vehicle including such an arrangement. The method includes detecting observable obstacles, detecting unobservable areas, adding virtual obstacles in unobservable areas, associating each observable obstacle and each virtual obstacle with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle and one or more events, and determining safe vehicle trajectories based on both observable obstacles and virtual obstacles and the occurrence probability of each combination of obstacle and one or more events.

Abstract: An object detecting arrangement is configured to detect objects in a field surrounding a vehicle hosting the arrangement. The arrangement comprises an imaging unit configured to capture images of the field. The imaging unit is arranged at the vehicle such that the field is in a direction of at least one of a side of the vehicle, and a rear of the vehicle. The arrangement further comprises a processing unit configured to detect objects in the field. The processing unit is configured to determine an object detecting capability. In addition, the arrangement comprises an illumination unit configured to illuminate the field when the object detecting capability is lower than a first predetermined threshold value. The present disclosure also relates to a lane keeping arrangement, a positioning arrangement and a method of detecting objects.

Abstract: A unit for improving positioning accuracy of an autonomous vehicle driving on a road includes a first computation unit configured to compute a first position of the vehicle at a time T1 using data from at least an inertial measurement unit (IMU); a second computation unit configured to compute a second position of the vehicle at the time T1 using data from at least one external sensor and a map; a comparison unit configured to compute a position difference between the computed first and second positions; a correction unit configured to correct an error parameter of the IMU, wherein the error parameter is used for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2.

Abstract: A method performed by a database managing system for maintaining a database comprising reported traffic-affecting events is provided. The system derives a position of a first vehicle supporting detection of vehicle surroundings and determines by comparing the vehicle position to positions of reported traffic-affecting events comprised in the database, that the first vehicle is approaching at least a first traffic-affecting event. The system prompts the first vehicle to attempt to detect the first traffic-affecting event, which prompting comprises providing to the first vehicle an expected position of the first traffic-affecting event. The system receives a response from the first vehicle, which response indicates whether or not the expected position was at least partly unobstructedly observable by the first vehicle.

Abstract: A method for generating navigation data for a vehicle using a vehicle and a navigation device, said vehicle comprising a set of sensors, said method comprising the steps of: travelling along a road, detecting at least one landmark, determining if said at least one landmark has a shape correlating to the main direction of said road. Approving the at least one landmark as a landmark for landmark navigation or approving an associated section of the road for landmark navigation.

Abstract: Disclosed herein is a method and arrangement for monitoring and adapting the performance of a fusion system of an autonomous road vehicle. A drivable area is determined by combining a localization function and high density map data. Information on surrounding objects is determined, comprising determining the localization and classifying the surrounding objects, estimating their physical property states, and assigning them extension descriptions. Information on the drivable area and surrounding objects is condensed into observed areas, monitored by sensors of the environmental perception function with a predetermined degree of certainty, and prioritized objects, represented by classes, state estimates and extension descriptions.

Abstract: A method for utilizing a trip history of a vehicle during a trip from an original position to a destination includes: (a) determining the original position; (b) comparing the original position to a mapping database covering the trip; (c) determining a road segment of the mapping database associated to the original position; (d) determining a current position during the trip; (e) comparing the current position to the mapping database; (f) determining a road segment of the mapping database associated to the current position; (g) setting the road segment as a link of the trip; (h) repeating (e)-(g) until the destination is reached; (i) determining the destination; (j) comparing the destination to the mapping database; (k) determining a road segment of the mapping database associated to the destination; and (l) representing the trip as connected links between the original position and destination, each link corresponding to a road segment.