| CPC G01C 21/3822 (2020.08) [G01C 21/3841 (2020.08); G01C 21/3848 (2020.08)] | 11 Claims |
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1. A method for locating road objects based on a plurality of routes transmitted by at least one vehicle being driven on a road network, the method comprising the following steps:
initializing a list of calibration road objects with at least one calibration object associated with an actual location that is known, wherein each calibration object in the list of calibration road objects is associated with a respective actual location that is known;
selecting routes, among the plurality of routes, comprising at least one road object corresponding to the at least one calibration object in the list of calibration road objects, wherein each of the selected routes is transmitted by a respective vehicle and comprises:
a plurality of successive vehicle locations acquired during a driving session, and
the at least one road object detected during the driving session by a sensor of the vehicle, the at least one road object being associated with a location of the vehicle at a time of its detection;
for each of the selected routes,
computing at least one readjustment parameter representative of a discrepancy between the location associated with the at least one road object in the route, and the actual location associated with the at least one calibration object in the list of calibration road objects,
applying the at least one computed readjustment parameter to locations of all road objects included in the route to obtain a calibrated route, and
updating the list of calibration road objects with the locations of all road objects included in the calibrated route; and
generating a high-resolution map of the road network based on the calibrated routes and the updated list of calibration road objects,
the steps of selecting, computing, applying and updating being repeated when the at least one computed readjustment parameter is above a particular threshold.
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