US6526352B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and arrangement for mapping a road
Assignee: American Vehicular Sciences LLC
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Filing: 2001-07-19
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Granted: 2003-02-25
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Expires: 2021-07-19
Abstract
Abstract Arrangement and method for mapping a road during travel of a vehicle having two data acquisition modules arranged on sides of the vehicle, each including a GPS receiver and antenna for enabling the vehicle's position to be determined and a linear camera which provides one-dimensional images of an area on the respective side in a vertical plane perpendicular to the road such that information about the road is obtained from a view in a direction perpendicular to the road. A processor unit forms a map database of the road by correlating the vehicle's position and the information about the road. Instead of or in addition to the linear cameras, scanning laser radars are provided and transmit waves downward in a plane perpendicular to the road and receive reflected waves to provide information about distance between the laser radars and the ground for use in forming the database.
Inventors
- 👤 David S. Breed
- 👤 Wendell C. Johnson
- 👤 Vittorio Castelli
- 👤 William E. Seitz
- 👤 Wilbur E. DuVall
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 13:17
CPC Classifications
G; G01; G01S; G01S19/00; G01S19/01; G01S19/13; G01S19/14; G01C; G01C21/00; G01C21/26; G01C21/34; G01C21/36; G01C21/3697; G01S13/00; G01S13/88; G01S13/93; G01S13/931; G01S17/00; G01S17/86; G01S17/88; G01S17/89; G01S19/03; G01S19/07; G01S19/071; G01S19/073; G01S19/074; G01S19/10; G01S19/11; G01S19/38; G01S19/39; G01S19/40; G01S19/41; G01S19/42; G01S19/48; G08; G08G; G08G1/00; G08G1/16; G08G1/161; G08G1/163; G08G1/164; B; B60; B60T; B60T2201/00; B60T2201/02; B60T2201/022; B60W; B60W2556/00; B60W2556/45; B60W2556/50; G01S2013/9315; G01S2013/9316; G01S2013/9318; G01S2013/93185; G01S2013/9319; G01S2013/932; G01S2013/9322; G01S2013/9325; G01S2013/9329
Claims Analysis
Total Claims: 44
Claim 1
Independent Claim
170 words
An arrangement for attaching to a vehicle to enable mapping of a road during travel of the vehicle, comprising: a first data acquisition module adapted to be arranged on a first side of the vehicle; a second data acquisition module adapted to be arranged on a second side of the vehicle; each of said modules comprising a GPS receiver and an antenna for enabling a determination of the position of the vehicle to be obtained and a linear camera adapted to provide one-dimensional images of an area on a respective one of the first and second sides of the vehicle, said linear cameras providing images of a vertical plane perpendicular to the road such that a view of the road in a direction perpendicular to the road is obtained and information about the road is obtainable from that view; and processor means coupled to said modules for forming a map database of the road by correlating the position of the vehicle on the road and the information about the road.
Claim 2
Dependent Claim
170 words
An arrangement for attaching to a vehicle to enable mapping of a road during travel of the vehicle, comprising: a first data acquisition module adapted to be arranged on a first side of the vehicle; a second data acquisition module adapted to be arranged on a second side of the vehicle; each of said modules comprising a GPS receiver and an antenna for enabling a determination of the position of the vehicle to be obtained and a linear camera adapted to provide one-dimensional images of an area on a respective one of the first and second sides of the vehicle, said linear cameras providing images of a vertical plane perpendicular to the road such that a view of the road in a direction perpendicular to the road is obtained and information about the road is obtainable from that view; and processor means coupled to said modules for forming a map database of the road by correlating the position of the vehicle on the road and the information about the road.
Claim 3
Dependent Claim
29 words
The arrangement of claim 1 , wherein said linear camera in each of said modules comprises at least one of a linear CCD, CMOS and another light sensitive array.
Claim 4
Dependent Claim
67 words
The arrangement of claim 1 , wherein said linear camera in each of said modules comprises a lens for providing a field of view from an approximate center of the vehicle to the horizon whereby said linear cameras are adapted to record one-dimensional pictures covering the entire road starting with approximately the center of a lane in which the vehicle travels and extending out to the horizon.
Claim 5
Dependent Claim
53 words
The arrangement of claim 1 , wherein each of said modules further comprises a scanning laser radar adapted to transmit waves downward in a plane perpendicular to the road and receive reflected radar waves to thereby provide information about distance between said laser radar and the ground which constitutes information about the road.
Claim 6
Dependent Claim
30 words
The arrangement of claim 4 , wherein in each of said modules, said laser radar is coordinated or synchronized with said linear camera to cover a common field of view.
Claim 7
Dependent Claim
14 words
The arrangement of claim 4 , wherein said laser radars are pulse-modulated or tone-modulated.
Claim 8
Dependent Claim
51 words
The arrangement of claim 1 , wherein each of said modules further comprises a video camera adapted to provide images of an area in front of the vehicle whereby images of an environment of the road including traffic signs and other informational displays are obtained and provide information about the road.
Claim 9
Dependent Claim
39 words
The arrangement of claim 7 , wherein said video camera in each of said modules is selected from group consisting of color video cameras, high-speed video cameras, wide angle cameras, telescopic cameras, and white video cameras and infrared cameras.
Claim 10
Dependent Claim
31 words
The arrangement of claim 7 , further comprising means for providing artificial illumination at least when an absence of sufficient natural illumination for obtaining images from said video cameras is detected.
Claim 11
Dependent Claim
35 words
The arrangement of claim 9 , wherein said means for providing artificial illumination comprise a laser scanner adapted to illuminate a particular part of the area in front of the vehicle with a bright spot.
Claim 12
Dependent Claim
49 words
The arrangement of claim 7 , further comprising a scanning laser rangefinder arranged in connection with at least one of said video cameras for determining the distance to particular objects in the images obtained by said at least one video camera whereby the distance constitutes information about the road.
Claim 13
Dependent Claim
17 words
The arrangement of claim 1 , wherein each of said modules further comprises an inertial measurement unit.
Claim 14
Dependent Claim
18 words
The arrangement of claim 1 , further comprising a mounting assembly for mounting said modules to the vehicle.
Claim 15
Dependent Claim
50 words
The arrangement of claim 13 , wherein said mounting assembly comprises a mounting bracket for attaching each of said modules to a roof of the vehicle, a mounting bracket for attaching each of said modules to a front of the vehicle and a mounting bracket for connecting said modules together.
Claim 16
Dependent Claim
147 words
An arrangement for attaching to a vehicle to enable mapping of a road during travel of the vehicle, comprising: a first data acquisition module adapted to be arranged on a first side of the vehicle; a second data acquisition module adapted to be arranged on a second side of the vehicle; each of said modules comprising a GPS receiver and an antenna for enabling a determination of the position of the vehicle to be obtained and a scanning laser radar adapted to transmit waves downward in a plane perpendicular to the road and receive reflected radar waves to thereby provide information about distance between said laser radar and the ground which constitutes information about the road; and processor means coupled to said modules for forming a map database of the road by correlating the position of the vehicle on the road and the information about the road.
Claim 17
Dependent Claim
147 words
An arrangement for attaching to a vehicle to enable mapping of a road during travel of the vehicle, comprising: a first data acquisition module adapted to be arranged on a first side of the vehicle; a second data acquisition module adapted to be arranged on a second side of the vehicle; each of said modules comprising a GPS receiver and an antenna for enabling a determination of the position of the vehicle to be obtained and a scanning laser radar adapted to transmit waves downward in a plane perpendicular to the road and receive reflected radar waves to thereby provide information about distance between said laser radar and the ground which constitutes information about the road; and processor means coupled to said modules for forming a map database of the road by correlating the position of the vehicle on the road and the information about the road.
Claim 18
Dependent Claim
76 words
The arrangement of claim 15 , wherein each of said modules further comprises a linear camera adapted to provide one-dimensional images of an area on a respective one of the first and second sides of the vehicle, said linear cameras providing images of a vertical plane perpendicular to the road such that a view of the road in a direction perpendicular to the road is obtained and information about the road is obtained from that view.
Claim 19
Dependent Claim
29 words
The arrangement of claim 16 , wherein said linear camera in each of said modules comprises at least one of a linear CCD, CMOS and another light sensitive array.
Claim 20
Dependent Claim
67 words
The arrangement of claim 16 , wherein said linear camera in each of said modules comprises a lens for providing a field of view from an approximate center of the vehicle to the horizon whereby said linear cameras are adapted to record one-dimensional pictures covering the entire road starting with approximately the center of a lane in which the vehicle travels and extending out to the horizon.
Claim 21
Dependent Claim
30 words
The arrangement of claim 16 , wherein in each of said modules, said laser radar is coordinated or synchronized with said linear camera to cover a common field of view.
Claim 22
Dependent Claim
14 words
The arrangement of claim 15 , wherein said laser radars are pulse-modulated or tone-modulated.
Claim 23
Dependent Claim
51 words
The arrangement of claim 15 , wherein each of said modules further comprises a video camera adapted to provide images of an area in front of the vehicle whereby images of an environment of the road including traffic signs and other informational displays are obtained and provide information about the road.
Claim 24
Dependent Claim
41 words
The arrangement of claim 21 , wherein said video camera in each of said modules is selected from a group consisting of color video cameras, high-speed video cameras, wide angle cameras, telescopic cameras, black and white video cameras and infrared cameras.
Claim 25
Dependent Claim
31 words
The arrangement of claim 21 , further comprising means for providing artificial illumination at least when an absence of sufficient natural illumination for obtaining images from said video cameras is detected.
Claim 26
Dependent Claim
35 words
The arrangement of claim 23 , wherein said means for providing artificial illumination comprise a laser scanner adapted to illuminate a particular part of the area in front of the vehicle with a bright spot.
Claim 27
Dependent Claim
49 words
The arrangement of claim 21 , further comprising a scanning laser rangefinder arranged in connection with at least one of said video cameras for determining the distance to particular objects in the images obtained by said at least one video camera whereby the distance constitutes information about the road.
Claim 28
Dependent Claim
17 words
The arrangement of claim 15 , wherein each of said modules further comprises an inertial measurement unit.
Claim 29
Dependent Claim
18 words
The arrangement of claim 15 , further comprising a mounting assembly for mounting said modules to the vehicle.
Claim 30
Dependent Claim
50 words
The arrangement of claim 27 , wherein said mounting assembly comprises a mounting bracket for attaching each of said modules to a roof of the vehicle, a mounting bracket for attaching each of said modules to a front of the vehicle and a mounting bracket for connecting said modules together.
Claim 31
Independent Claim
141 words
A method for mapping a road, comprising the steps of: arranging a first data acquisition module on a first side of the vehicle; arranging a second data acquisition module on a second side of the vehicle, each of the modules comprising a GPS receiver and an antenna and a linear camera oriented to provide one-dimensional images in a vertical plane of an area on a respective one of the first and second sides of the vehicle; operating the vehicle on the road while continually obtaining the position of the vehicle using the GPS receiver and antenna and obtaining images from the linear cameras of vertical planes perpendicular to the road; and forming a map database of the road by correlating the position of the vehicle on the road and information about the road obtained from the images from the linear cameras.
Claim 32
Independent Claim
141 words
A method for mapping a road, comprising the steps of: arranging a first data acquisition module on a first side of the vehicle; arranging a second data acquisition module on a second side of the vehicle, each of the modules comprising a GPS receiver and an antenna and a linear camera oriented to provide one-dimensional images in a vertical plane of an area on a respective one of the first and second sides of the vehicle; operating the vehicle on the road while continually obtaining the position of the vehicle using the GPS receiver and antenna and obtaining images from the linear cameras of vertical planes perpendicular to the road; and forming a map database of the road by correlating the position of the vehicle on the road and information about the road obtained from the images from the linear cameras.
Claim 33
Dependent Claim
68 words
The method of claim 29 , further comprising the step of arranging a lens in connection with each of the linear cameras to provide a field of view from an approximate center of the vehicle to the horizon whereby the video cameras obtain one-dimensional images covering the entire road starting with approximately the center of the road on which the vehicle travels and extending out to the horizon.
Claim 34
Dependent Claim
72 words
The method of claim 29 , further comprising the steps of: arranging a scanning laser radar in each of the modules; and while operating the vehicle, transmitting waves from the laser radars downward in a plane perpendicular to the road and receiving reflected radar waves to thereby provide information about distance between the laser radars and the ground which constitutes information about the road for use in formation of the map database.
Claim 35
Dependent Claim
33 words
The method of claim 31 , further comprising the step of coordinating or synchronizing the laser radars and the linear cameras in each of the modules to cover a common field of view.
Claim 36
Dependent Claim
64 words
The method of claim 29 , further comprising the steps of: arranging a video camera in each of the modules to provide images of an area in front of the vehicle including traffic signs and other informational displays; and while operating the vehicle, obtaining images from the video cameras to thereby provide information about the road for use in formation of the map database.
Claim 37
Dependent Claim
44 words
The method of claim 33 , further comprising the step of arranging a scanning laser rangefinder in connection with at least one of the video cameras for determining the distance to particular objects in the images obtained by the at least one video camera.
Claim 38
Independent Claim
138 words
A method for mapping a road, comprising the steps of: arranging a first data acquisition module on a first side of the vehicle; arranging a second data acquisition module on a second side of the vehicle; each of the modules comprising a GPS receiver and an antenna and a scanning laser radar oriented to transmit waves downward in a plane perpendicular to the road and receive reflected radar waves; operating the vehicle on the road while continually obtaining the position of the vehicle using the GPS receiver and antenna and obtaining information about the distance between the laser radars and the ground by transmitting and receiving radar waves; and forming a map database of the road by correlating the position of the vehicle on the road and the information about distance between the laser radars and the ground.
Claim 39
Independent Claim
138 words
A method for mapping a road, comprising the steps of: arranging a first data acquisition module on a first side of the vehicle; arranging a second data acquisition module on a second side of the vehicle; each of the modules comprising a GPS receiver and an antenna and a scanning laser radar oriented to transmit waves downward in a plane perpendicular to the road and receive reflected radar waves; operating the vehicle on the road while continually obtaining the position of the vehicle using the GPS receiver and antenna and obtaining information about the distance between the laser radars and the ground by transmitting and receiving radar waves; and forming a map database of the road by correlating the position of the vehicle on the road and the information about distance between the laser radars and the ground.
Claim 40
Dependent Claim
79 words
The method of claim 35 , further comprising the steps of: arranging a linear camera in each of the modules; positioning the linear cameras oriented to provide one-dimensional images of a vertical plane of an area on a respective one of the first and second sides of the vehicle; and while operating the vehicle, obtaining one-dimensional images from the linear cameras to thereby provide information about the road from the images for use in formation of the map database.
Claim 41
Dependent Claim
68 words
The method of claim 36 , further comprising the step of arranging a lens in connection with each of the linear cameras to provide a field of view from an approximate center of the vehicle to the horizon whereby the video cameras obtain one-dimensional images covering the entire road starting with approximately the center of the road on which the vehicle travels and extending out to the horizon.
Claim 42
Dependent Claim
33 words
The method of claim 36 , further comprising the step of coordinating or synchronizing the laser radars and the linear cameras in each of the modules to cover a common field of view.
Claim 43
Dependent Claim
64 words
The method of claim 25 , further comprising the steps of: arranging a video camera in each of the modules to provide images of an area in front of the vehicle including traffic signs and other informational displays; and while operating the vehicle, obtaining images from the video cameras to thereby provide information about the road for use in formation of the map database.
Claim 44
Dependent Claim
44 words
The method of claim 39 , further comprising the step of arranging a scanning laser rangefinder in connection with at least one of the video cameras for determining the distance to particular objects in the images obtained by the at least one video camera.
References Cited (Backward Citations)
US6047234A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2006-02-24 | 2006-08-26 | 2007-02-25 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2010-02-24 | 2010-08-26 | 2011-02-25 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2014-02-24 | 2014-08-26 | 2015-02-25 | $7700.00 | Window Closed / Lapsed |