Embodiments of this application disclose a map rendering method performed at a terminal. The method includes: transmitting a block request to a native map module of the terminal through a three-dimensional display engine, the block request carrying a block identifier corresponding to a target field of view area; obtaining a block data address based on the block identifier through the native map module, and transmitting the block data address to the three-dimensional display engine; obtaining block data in the target field of view area based on the block data address through the three-dimensional display engine; invoking a target map interface through the native map module, to parse the block data, and generating map mesh data based on data obtained through parsing, the map mesh data including road data and building data; and performing map rendering based on the road data and the building data in the map mesh data.

In relation to the field of vehicle navigation, we describe a method of determining a position of a subject (such as a vehicle, platform or target), comprising the steps of obtaining and storing an object dataset comprising object data indicative of one or more objects in an environment, including an indication of object parameters associated with the or each object, the object parameters including one or more of location, orientation, one or more dimensions, and a type associated with the object, obtaining environment data indicative of a region of the environment from a sensor associated with the subject, determining the presence of an observed object in the environment data, including determining one or more equivalent observed object parameters associated with the observed object, and determining the position of the subject based on a comparison of the observed object parameters with the equivalent object parameters of the objects in the object dataset.

A method and an apparatus for correcting deformation of a digital map for a vehicle, includes loading a related part from the digital map; determining whether the related part includes road coordinate information in a first zone and road coordinate information in a second zone, wherein the road coordinate information in the first zone is associated with a first Cartesian coordinate system and the road coordinate information in the second zone is associated with a second Cartesian coordinate system; transforming the road coordinate5 information in the second zone to the first Cartesian coordinate system, if the related part includes the road coordinate information in the first zone and the road coordinate information in the second zone; and generating a corrected map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone; wherein the first Cartesian coordinate system is the coordinate system of the vehicle for processing the road coordinate information.

Provided are a map building method, a navigation method, a device and a system. A detected obstacle is identified, and a type of the obstacle is determined according to an identification result from multiple obstacle types obtained through classification according to an obstacle characteristic; a map is built and the obstacle is marked, and the type of the obstacle is recorded. A newly added obstacle detected on a path is identified during navigation, and obstacle avoidance process is performed according to the type of the newly added obstacle.

A navigation system includes an operation input unit, a temporary storage unit, and a control unit that executes processing concerning the navigation operation using the information for applications. The control unit sets analysis priority levels for analysis processing performed for each of the kinds of the map information and sets generation priority levels for each of the kinds of the information for applications, performs, with at least one kind of map information as an analysis target, the analysis processing generates the information for applications in order according to the generation priority levels based on results of the analysis processing respectively obtained for the map information set as the analysis target, saves the generated information for applications in the temporary storage unit, and executes processing concerning the navigation operation using the information for applications saved in the temporary storage unit.

The present invention relates to a system, method, infrastructure, and vehicle for performing automated valet parking. The present disclosure enables an unmanned vehicle to autonomously move to and park at an empty parking space by communicating with a parking infrastructure. The present disclosure enables an unmanned vehicle to autonomously move from a parking space to a pickup zone by communicating with a parking infrastructure.

A computer-implemented method for constructing an environment model includes generating a first Signatured Gaussian Mixture (SGM) model corresponding to a first part of the environment based on a first sensor data, receiving a second SGM model corresponding to a second part of the environment, and constructing a third SGM model comprising the first SGM model and the second SGM model.

A method for producing a lane-accurate road map. The method includes providing a digital road-accurate road map, providing a trajectory data record, identifying at least one road with segmenting of the road-accurate road map into at least one road segment, modeling the road segment in a road model, the road model having parameters for describing lanes of the road, random variation of parameter values of at least a part of the parameters of the road model through random selection of a change operation of the road model, and assigning at least a part of the trajectory data of the trajectory data record to the road model with ascertaining of at least one probability value for the road model. Based on the ascertained at least one probability value, optimal parameter values of the road model are ascertained, and based on this a lane-accurate road map is produced.

A driving control method comprises: acquiring a destination of a vehicle; referring to a first map that includes identification information of a travel lane and a second map that does not include the identification information of the travel lane; calculating a route from a current position of the vehicle to the destination; when traveling along a first route included in the route and belonging to the first map, setting first driving control, while when traveling along a second route included in the route and belonging to the second map, setting second driving control with a lower level of autonomous driving than that of the first driving control; and creating a driving plan for the vehicle to travel along the route with contents of the set driving control. A driving control apparatus is based on the method.

A method, system, and computer program product is provided, for example, for matching a geospatial message to one or more static objects on a link. The method may include identifying a location of an observation point for observing the one or more static objects from a vehicle on the link. The method may further include applying spatial filtering criteria to each of the one or more static objects based on an observable distance of each of the one or more static objects from the location of the observation point to filter the one or more static objects. The filtering of the one or more static objects may provide one or more filtered static objects. The method may further include calculating a heading of the vehicle and further using the heading of the vehicle for applying a heading filtering criteria to the one or more filtered static objects based on the heading of the vehicle and a pre-computed heading of each of the one or more filtered static objects to provide one or more candidate objects. Additionally, the method may include applying a distance filtering criteria to each of the one or more candidate objects to provide one or more remaining objects. Finally, the method may include matching the geospatial message to at least one of the one or more remaining objects based on the distance filtering criteria.