US 12,078,505 B2
Roadway mapping device
Stefan Luthardt, Darmstadt (DE); Stefan Boschenriedter, Darmstadt (DE); Phillip Hossbach, Darmstadt (DE); Clemens Linnhoff, Darmstadt (DE); and Siqian Wu, Darmstadt (DE)
Assigned to Continental Automotive GmbH, Hannover (DE)
Filed by Continental Automotive GmbH, Hannover (DE)
Filed on Feb. 24, 2021, as Appl. No. 17/249,221.
Application 17/249,221 is a continuation of application No. PCT/DE2019/200104, filed on Aug. 29, 2019.
Claims priority of application No. 10 2018 214 697.7 (DE), filed on Aug. 30, 2018.
Prior Publication US 2021/0180980 A1, Jun. 17, 2021
Int. Cl. G01C 21/00 (2006.01)
CPC G01C 21/3815 (2020.08) [G01C 21/3819 (2020.08); G01C 21/3837 (2020.08); G01C 21/3848 (2020.08); G01C 21/3881 (2020.08)] 22 Claims
OG exemplary drawing
 
1. A roadway mapping device for a vehicle, comprising:
a camera unit for detecting image data; and
a control circuit including one or more inputs connected to the camera unit over which the image data detected by camera unit is received,
wherein the control circuit is configured to determine roadway regions in the image data detected by the camera unit,
wherein the control circuit is configured to transform the determined roadway regions of the image data into a bird's-eye view by utilizing inverse perspective imaging and to project the transformed roadway regions onto a plane,
wherein the control circuit is further configured to add the projected, transformed roadway regions to a grid map in the plane, and
wherein the control circuit is configured to align at least two grid maps having projected roadway regions from two different journeys with respect to each other and to combine them to create a final grid map of the roadway regions, the final grid map including the projected, transformed, aligned, and combined roadway regions as roadway representations in the final grid map.