Systems and methods for the detection and analysis of curvature data are described. A method includes: receiving position data of a vehicle turning maneuver along a portion of a roadway, where the position data includes measured position data collected by sensors of a vehicle while traversing the vehicle turning maneuver; associating the received position data with map data of the portion of the roadway; generating a spline based on the position data, the spline being a smooth curve representing the vehicle turning maneuver from a first road segment to a second road segment; identifying a segment of the spline containing a turning point of the vehicle turning maneuver, the turning point representing a change of a vehicle path from along the first road segment to along the second road segment; and determining a maximum curvature value for the identified segment of the spline.

A method and apparatus for displaying a virtual route estimates a position of a vehicle based on sensing data received asynchronously from sensors, and outputs a three-dimensional (3D) virtual route generated by registering a driving environment model corresponding to a driving environment of the vehicle and the position of the vehicle in map information.

Disclosed are a road feature point extraction method and system. The road feature point extraction method comprises: acquiring map information for the current position of a vehicle, wherein the map information comprises the attributes of the current road and the attributes of the next road section; comparing the attributes of the current road with the attributes of the next road section to determine the road type of the next road section; and extracting, in conjunction with the road type of the next road section and the map information corresponding to the next road section, a road feature point representing a road scene on the next road section, and outputting the name of the extracted road feature point and information of the relative distance between the road feature point and the vehicle.

A vehicle position estimation apparatus according to the present invention includes a painted line recognition result processing unit configured to calculate whether the vehicle has made a lane change and a direction of the lane change when the vehicle has made the lane change, a vehicle lateral position calculating unit configured to calculate a lane where the vehicle is in travel and a vehicle lateral position that is a lateral position of the vehicle in the lane based on whether the vehicle has made the lane change, the direction of the lane change, and a lane connection relation, and an on-map vehicle position calculating unit configured to calculate an on-map position of the vehicle on the road based on a map information, the lane where the vehicle is in travel, the vehicle lateral position, and a forward travel distance.

A method for detecting changes in road information includes converting a captured road image and a projected road-layout map into first intermediate data and second intermediate data of a same feature space, respectively, and calculating the similarity between the captured road image and the projected road-layout map based on the first intermediate data and the second intermediate data Thereafter, the presence or the absence of changes in road information on the projected road-layout map is detected based on the calculated similarity.

A vehicle navigation system may include a data pipeline that proposes routing graph modifications from automatically ingested data sources and that provides enough context to suggest an expiration time to remove the routing graph modifications once imposed. The system and method receives from at least one data source routing graph modification data including geographic location data identifying a location to which a routing graph modification applies. The routing graph modification data is associated with one or more roadway elements in a routing graph of a navigation constraints system, and the routing graph modification data associated with the one or more roadway elements is classified as a routing graph modification. The routing graph modification is added to or, if expired, removed from the navigation constraints system.

A method for creating a first map. The method includes providing a second map, the second map including at least one predefined path; receiving map data, the map data representing at least one trajectory and at least one further object; and creating the first map starting from the map data, an alignment based on a superimposition of the at least one predefined path and the at least one trajectory being carried out, and subsequently a displacement of the at least one further object being carried out starting from the alignment. A device for carrying out the method for creating a first map is also described.

A vehicle control system includes a map generating unit configured to generate a map of a surrounding area of a vehicle, and a road shoulder determining unit configured to determine whether the vehicle has entered a road shoulder on the map. The road shoulder determining unit is configured to identify an own lane on which the vehicle is traveling on the map, determine whether an adjacent lane adjacent to the own lane is present on the map, determine whether the vehicle has crossed an own delimiting line that delimits the own lane on the map, and determine that the vehicle has entered the road shoulder on the map upon determining that the adjacent lane is not present on one lateral side of the own lane and that the vehicle has crossed the own delimiting line on the one lateral side.

Techniques associated with generating and maintaining sparse geographic and map data. In some cases, the system may maintain a factor graph comprising a plurality of nodes. In some cases, the nodes may comprise pose data and sensor data associated with an autonomous vehicle at the geographic position represented by the node. The nodes may be linked based on shared trajectories and shared sensor data.

An approach is provided for creating a road geometry representation (e.g., a base map with double digitized roads representing actual travel paths and connectivity). The approach involves, for example, retrieving probe data collected from sensors of probe devices traveling within a geographic area including at least one geographic partition. The approach also involves dividing each of the at least one geographic partition into grid cells. The approach further involves detecting directional groupings of the probe data for each grid cell. The directional groupings comprise probes of the probe data that share a respective common travel direction. The approach further involves determining a density maxima location of the probes sharing the respective travel direction, for said each grid cell and each directional grouping. The approach further involves creating a continuous road path based on the density maxima locations for the grid cells. The approach further involves including the continuous road path in an output representing a base map of the geographic area.