Abstract: Described herein is a method and arrangement (11) for sourcing of location information, generating and updating maps (16) representing the location. From at least two road vehicle (12) passages at the location is obtained (1, 2) vehicle registered data on the surrounding environment from environment sensors and positioning data from consumer-grade satellite positioning arrangements and from at least one of an inertial measurement unit and a wheel speed sensor. The positioning data is smoothed (3) to establish continuous trajectories for the respective vehicles (12). Individual surrounding environment maps are created using the data from each respective vehicle (12) passage at the location. From the individual surrounding environment maps are identified submaps (15) sharing area segments. Pairs of submaps (15) sharing area segments are cross-correlated (6).

Abstract: Described herein is a method and arrangement (11) for sourcing of location information, generating and updating maps (16) representing the location. From at least two road vehicle (12) passages at the location is obtained (1, 2) vehicle registered data on the surrounding environment from environment sensors and positioning data from consumer-grade satellite positioning arrangements and from at least one of an inertial measurement unit and a wheel speed sensor. The positioning data is smoothed (3) to establish continuous trajectories for the respective vehicles (12). Individual surrounding environment maps are created using the data from each respective vehicle (12) passage at the location. From the individual surrounding environment maps are identified submaps (15) sharing area segments. Pairs of submaps (15) sharing area segments are cross-correlated (6).

Abstract: A method for determining a location of a vehicle comprises acquiring a 2D-image, depicting vehicle surroundings, using a vehicle-based camera; classifying pixels in the image such that each classified pixel belongs to one class of a set of classes, thereby forming a classified 2D-image. The method further comprises determining an initial estimated vehicle location and defining possible vehicle locations based on the initial location; matching the classified 2D-image with a 3D-map comprising a plurality of geometric objects that each belong to one class of the set of classes, by comparing a classification of a geometric object in the 3D-map, for a possible vehicle location, with a classification of a corresponding at least one pixel in the classified 2D-image; determining a matching score for at least one possible vehicle location based on matched pixels of the 2D-image; and determining a vehicle location based on the score of the possible vehicle location.

Abstract: A method for determining a location of a vehicle comprises acquiring a 2D-image, depicting vehicle surroundings, using a vehicle-based camera; classifying pixels in the image such that each classified pixel belongs to one class of a set of classes, thereby forming a classified 2D-image. The method further comprises determining an initial estimated vehicle location and defining possible vehicle locations based on the initial location; matching the classified 2D-image with a 3D-map comprising a plurality of geometric objects that each belong to one class of the set of classes, by comparing a classification of a geometric object in the 3D-map, for a possible vehicle location, with a classification of a corresponding at least one pixel in the classified 2D-image; determining a matching score for at least one possible vehicle location based on matched pixels of the 2D-image; and determining a vehicle location based on the score of the possible vehicle location.

Abstract: A method and a following space management unit of a host vehicle for managing a following space are disclosed. The following space management unit obtains a set of parameters including one or more of a difference parameter, indicating a difference between a velocity of the host vehicle and a speed limit for the host vehicle at a current location, and a road marking parameter, indicating whether a surrounding vehicle is allowed to enter the current lane. The following space management unit determines the following space based on the set of parameters.

Abstract: A method performed by a positioning system of a vehicle is disclosed for determining a position of the vehicle along a road including one or several road markings arranged on a surface of the road. The positioning system detects road markings, matches detected road markings with mapped road markings of stored map data based on comparing characteristics of the detected road markings with mapped characteristics of the mapped road markings. The positioning system furthermore identifies a mapped identified road marking determined to correspond with a detected identified road marking, and determines a positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking. A positioning system, a vehicle including such a positioning system, and a mapping unit and a mapping method performed therein for creating map data to be utilized by the above mentioned positioning system are also disclosed.

Abstract: A method performed by a positioning system of a vehicle is disclosed for determining a position of the vehicle along a road including one or several road markings arranged on a surface of the road. The positioning system detects road markings, matches detected road markings with mapped road markings of stored map data based on comparing characteristics of the detected road markings with mapped characteristics of the mapped road markings. The positioning system furthermore identifies a mapped identified road marking determined to correspond with a detected identified road marking, and determines a positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking. A positioning system, a vehicle including such a positioning system, and a mapping unit and a mapping method performed therein for creating map data to be utilized by the above mentioned positioning system are also disclosed.

Abstract: A method and a following space management unit of a host vehicle for managing a following space are disclosed. The following space management unit obtains a set of parameters including one or more of a difference parameter, indicating a difference between a velocity of the host vehicle and a speed limit for the host vehicle at a current location, and a road marking parameter, indicating whether a surrounding vehicle is allowed to enter the current lane. The following space management unit determines the following space based on the set of parameters.