US 11,815,617 B2
Generation and use of HD maps
Kim Mahler, Berlin (DE); Thomas Haustein, Potsdam (DE); Marcus Grossmann, Friedrichroda (DE); and Kei Sakaguchi, Berlin (DE)
Assigned to Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Munich (DE)
Filed by Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Munich (DE)
Filed on Jul. 2, 2019, as Appl. No. 16/460,775.
Application 16/460,775 is a continuation of application No. PCT/EP2017/084835, filed on Dec. 29, 2017.
Claims priority of application No. 17150342 (EP), filed on Jan. 5, 2017.
Prior Publication US 2019/0323855 A1, Oct. 24, 2019
Int. Cl. G01C 21/36 (2006.01); G06K 9/62 (2022.01); G06K 9/00 (2022.01); G06K 9/32 (2006.01); G05D 1/00 (2006.01); G01S 7/00 (2006.01); G01S 17/89 (2020.01); G06V 20/64 (2022.01); G06F 18/25 (2023.01); G01C 21/00 (2006.01)
CPC G01S 7/003 (2013.01) [G01C 21/367 (2013.01); G01C 21/3694 (2013.01); G01C 21/3841 (2020.08); G01S 17/89 (2013.01); G05D 1/0088 (2013.01); G06F 18/25 (2023.01); G06V 20/64 (2022.01); G05D 2201/0213 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a processor unit configured to provide a first high-definition map;
a sensor unit configured for providing sensor data representing an environmental condition in a periphery of the apparatus;
a receiver unit configured to receive data representing a second high-definition map;
wherein the processor unit is configured to fuse the second high-definition map and the sensor data so as to provide the first high-definition map;
a transmitter unit configured for transmitting a result of fusing the second high-definition map and the sensor data; and a command generator unit configured to generate a command signal representing a vehicle control command for a vehicle carrying the apparatus based on the first high-definition map; wherein the processor unit is configured to update or refresh a part of the second high-definition map in the first high-definition map for which other data is available;
wherein the processor unit is configured to receive information indicating a region of interest in the first high-definition map and to provide the first high-definition map so as to comprise a first degree of resolution in the region of interest and to comprise a second degree of resolution in a region outside the region of interest, wherein the first degree of resolution is higher than the second degree of resolution,
wherein the receiver unit is configured to receive the second high-definition map using a millimeter-wavelength signal and/or to transmit the first high-definition map using the millimeter-wavelength signal.