updating the primary map and the backup map

Abstract

An example method for enhancing the reliability of high-definition (HD) maps, performed by a user equipment (UE), includes: applying a map update to a primary HD map based on a received map update; in response to a successful update of the primary HD map, determining one or more structural feature changes in the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and in response to determining the one or more structural feature changes, updating a backup HD map by applying the one or more structural feature changes to a backup HD map. The method also includes providing the updated primary HD map and the updated backup HD map for navigation.

Description

[0001] Related applications

[0002] This application claims the benefit of U.S. Application No. 18 / 520,450, filed November 27, 2023, entitled “ENHANCEMENTS TO MAPRELIABILITY,” which has been assigned to the assignee of this application and is incorporated herein by reference in its entirety. Background Technology 1. Technical Field

[0004] This disclosure generally relates to high-definition (HD) maps in transportation systems, and more specifically to techniques for enhancing the reliability of HD maps.

[0005] 2. Relevant Technical Descriptions

[0006] Mobile Over-the-Air (MOTA) mapping is transforming how vehicles interact with their surroundings by providing real-time HD map data over wireless networks. Using MOTA allows vehicles to make informed decisions based on up-to-date information about roads and traffic conditions. Additionally, vehicles can combine these HD maps with sensor data to enhance the accuracy and safety of autonomous driving and / or advanced driver assistance systems (ADAS). Summary of the Invention

[0007] An example method for enhancing the reliability of high-definition (HD) maps, performed by a user equipment (UE), includes: wirelessly receiving map updates via at least one transceiver; updating a primary HD map based on the received map updates; determining one or more structural feature changes in the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and updating a backup HD map by applying the one or more structural feature changes. The method also includes providing the updated primary HD map and the updated backup HD map for navigation.

[0008] An example UE for enhancing the reliability of high-definition (HD) maps includes: one or more transceivers; one or more memories; and one or more processors communicatively coupled to the one or more transceivers and the one or more memories. The one or more processors are configured to: wirelessly receive map updates via the one or more transceivers; update a primary HD map based on the received map updates; determine one or more structural feature changes in the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and update a backup HD map by applying the one or more structural feature changes. The one or more processors are configured to provide the updated primary HD map and the updated backup HD map for navigation.

[0009] An example apparatus for enhancing the reliability of high-definition (HD) maps includes: components for wirelessly receiving map updates via at least one transceiver; components for updating a primary HD map based on the received map updates; components for determining one or more structural feature changes in the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and components for updating a backup HD map by applying the one or more structural feature changes. The apparatus also includes components for providing the updated primary HD map and the updated backup HD map for navigation.

[0010] An example non-transitory computer-readable medium storing instructions for enhancing the reliability of high-definition (HD) maps, the instructions including code for: wirelessly receiving map updates via at least one transceiver; updating a map update of a primary HD map based on the received map updates; determining one or more structural feature changes of the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and updating a backup HD map by applying the one or more structural feature changes. The instructions also include code for providing the updated primary HD map and the updated backup HD map for navigation.

[0011] This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used alone to determine the scope of the claimed subject matter. This subject matter should be understood with reference to the appropriate portions of this disclosure, any or all drawings, and each claim. The foregoing, as well as other features and examples, will be described in more detail in the following description, claims, and drawings. Attached Figure Description

[0012] Figure 1 These are examples of communication / positioning / sensing systems based on some implementation schemes.

[0013] Figure 2 A diagram of a 5G NR network is shown, illustrating a wireless system implemented in 5G NR (e.g., Figure 1 The implementation scheme of the communication / positioning / sensing system shown.

[0014] Figure 3 This is an accompanying illustration showing a perspective view of a vehicle.

[0015] Figure 4 This is a block diagram of a positioning estimation system based on some implementation schemes, which provides an example of a transportation system that can use HD maps.

[0016] Figure 5 This is a high-level block diagram of methods for enhancing the reliability of HD maps based on some implementation schemes.

[0017] Figure 6 This is a flowchart illustrating a method for enhancing the reliability of HD maps according to some implementation schemes.

[0018] Figure 7 This is a block diagram of an implementation of a mobile computing system that can be utilized in the embodiments described herein.

[0019] Figure 8 It is a block diagram of an implementation of a computer system that can be utilized in the implementation schemes described herein. Detailed Implementation

[0020] The following description is directed to certain specific embodiments for the purpose of illustrating the innovative aspects of each implementation. However, those skilled in the art will readily recognize that the teachings herein can be applied in many different ways. The specific embodiments described can be implemented in any device, system, or network capable of transmitting and receiving radio frequency (RF) signals according to any communication standard, such as any of the Institute of Electrical and Electronics Engineers (IEEE) IEEE 802.11 standards (including those identified as Wi-Fi). ® Those technical standards), Bluetooth ®Standard, Code Division Multiple Access (CDMA), Frequency Division Multiple Access (FDMA), Time Division Multiple Access (TDMA), Global System for Mobile Communications (GSM), GSM / General Packet Radio Service (GPRS), Enhanced Data GSM Environment (EDGE), Terrestrial Trunking Radio (TETRA), Wideband CDMA (W-CDMA), Evolved Data Optimized (EV-DO), 1xEV-DO, EV-DO Revision A, EV-DO Revision B, High Rate Packet Data (HRPD), High Speed ​​Packet Access (HSPA), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), Evolved High Speed ​​Packet Access (HSPA+), Long Term Evolution (LTE), Advanced Mobile Phone Systems (AMPS), or other known signals used for communication in wireless, cellular, or Internet of Things (IoT) networks (such as systems utilizing technologies of 3G, 4G, 5G, 6G, or further implementations thereof).

[0021] As used herein, an "RF signal" includes electromagnetic waves that transmit information through the space between a transmitter (or transmitting device) and a receiver (or receiving device). As used herein, a transmitter may send a single "RF signal" or multiple "RF signals" to a receiver. However, due to the propagation characteristics of individual RF signals through multiple channels or paths, a receiver may receive multiple "RF signals" corresponding to each transmitted RF signal.

[0022] As used herein, the terms "RF sensing," "passive RF sensing," and variations thereof refer to the process of detecting one or more objects using RF signals transmitted by a transmitting device and received by a receiving device after reflection from one or more objects. In a monostatic configuration, the transmitting and receiving devices are the same device. In a multistatic configuration, one or more receiving devices are separate from one or more transmitting devices. As described in more detail below, the receiving devices can measure these reflected RF signals to determine one or more characteristics of one or more objects, such as position, angle, orientation, Doppler, velocity, etc. According to some implementations, RF sensing can be "passive" because neither the receiving device nor the one or more objects need to transmit RF signals for the one or more objects to be detected.

[0023] Additionally, unless otherwise stated, references to “sensing signal,” “RF sensing signal,” “reference signal,” “sensing reference signal,” “reference signal for sensing,” etc., may refer to signals used for sensing by user equipment (UE). As described in more detail herein, such signals may include any of a variety of signal types, but are not necessarily limited to Position Reference Signals (PRS) as defined in the relevant radio standards.

[0024] As used herein, the term “positioning estimate” for a vehicle is an estimate of the vehicle’s position within a reference frame. This can mean, for example, an estimate of the vehicle’s position within a 2D coordinate frame (e.g., latitude and longitude on a 2D map) or a 3D coordinate frame (e.g., latitude, longitude, and altitude (LLA) on a 3D map), and may optionally include orientation information, such as heading. In some embodiments, the positioning estimate may include a six-degree-of-freedom (6-DOF) (also known as “attitude”) estimate, which includes translation (latitude, longitude, and altitude) and orientation (pitch, roll, and yaw) information.

[0025] As used herein, the terms “map,” “HD map,” “map data,” “HD map data,” and their derivatives can refer to an electronic representation of a physical location or geographic area. As noted, map data can include different “layers” of different data types, such as radar, camera, etc. As will be understood by those skilled in the art, the electronic representation can be stored as one or more electronic files, data objects, etc., in a database or other data structure (in any of a variety of storage media).

[0026] It should be noted that although the determination of the location of a vehicle is mentioned below, the embodiments are not limited thereto. For example, alternative embodiments may involve other mobile devices (e.g., mobile computing devices and / or UEs) and / or applications in which the location determination is made. Those skilled in the art will recognize many variations of the embodiments described herein.

[0027] Various aspects generally relate to HD maps in transportation systems. Some aspects more specifically relate to a method performed by a UE (e.g., a mobile computing device) for enhancing the reliability of HD maps. In some examples, the UE may periodically check for map updates and, if a map update is detected and / or available, download it. The downloaded map update may be applied to a main map (e.g., a main HD map in use / operational or to be used) for updating. In response to a successful update of the main map, the UE may determine one or more structural feature changes in the updated main map, which correspond to real-world structural changes represented in the main map. In some implementations, one or more structural feature changes may be determined by accessing the differences between the updated main map and the main map. In response to the determination of one or more structural feature changes, the map update may be considered "significant," and the UE may update the secondary map by applying this "significant" map update to a secondary map (e.g., a backup HD map) (e.g., by applying the determined one or more structural feature changes, and additionally or alternatively, by incorporating a user-preferred route or a new route). Thus, the secondary map may be up-to-date and may reflect the latest available HD map data. In some examples, an updated main map and an updated secondary map may be provided for navigation and / or for autonomous driving.

[0028] HD map data is typically received / downloaded from servers or cloud-based systems where various sensors and data sources are used to collect and analyze information about road networks and traffic patterns. Using sophisticated processing techniques (e.g., sensor fusion algorithms), HD map data can be combined with inputs from sensors on the vehicle (e.g., radio frequency (RF) signals and camera images) to produce detailed and continuously updated environmental maps in real time. Accessing this HD map data via wireless networks such as cellular or satellite connections allows autonomous vehicles to gain valuable insights to guide their behavior and decision-making. For example, vehicles can use HD map data to proactively avoid road construction, bypass traffic congestion, and effectively respond to accidents. Furthermore, when used for navigation, HD map data enables vehicles to optimize their routes, prioritizing efficiency and safety.

[0029] Damaged HD maps may contain inaccurate or outdated data regarding road conditions, lane boundaries, traffic signs, and other critical details. Such inaccuracies can cause autonomous vehicles to misperceive and misunderstand their environment. When HD maps are damaged, autonomous vehicles may make incorrect navigation decisions, including incorrect lane changes, inaccurate turn instructions, and inappropriate route planning. This can impair the safety and efficiency of vehicle operation. Therefore, the integrity of the HD maps used in autonomous vehicles is crucial, as any damage to the map can have a serious impact on the vehicle's navigation and decision-making capabilities.

[0030] In existing technical solutions, when the primary map used in an autonomous vehicle is damaged, the system reverts to a secondary map as a precaution designed to ensure continued safe navigation. Secondary maps often contain outdated information, which can introduce reliability issues and compromise safety. Specific aspects of the subject matter described in this disclosure can be implemented to maintain the integrity of the HD map and ensure the availability of up-to-date and accurate data for navigation and / or autonomous driving by dynamically applying "major map updates" to the secondary map. Therefore, even when the primary map is damaged, the secondary map can still provide up-to-date and accurate data for navigation and / or autonomous driving. The operational safety of the autonomous vehicle can thus be enhanced.

[0031] As will be discussed in detail below, a vehicle may be able to determine its location (e.g., using communication / positioning / sensing systems), which can be combined with HD maps downloaded by the vehicle / vehicle system and / or used. For example, Figure 1This is a simplified illustration of a wireless system capable of communication, positioning, and sensing according to an embodiment, referred to herein as "communication / positioning / sensing system" 100, wherein mobile device 105, network function server 160, and / or other components of communication / positioning / sensing system 100 may use the techniques provided herein for RF sensing and / or positioning of a vehicle (e.g., where communication / positioning / sensing system 100 is associated with a vehicle). (That is, the embodiment is not necessarily limited to such a system.) The techniques described herein may be implemented by one or more components of communication / positioning / sensing system 100. Communication / positioning / sensing system 100 may include: mobile device 105; one or more satellites 110 (also referred to as spacecraft (SV)), which may include Global Navigation Satellite System (GNSS) satellites (e.g., satellites of Global Positioning System (GPS), GLONASS, Galileo, BeiDou, etc.) and / or non-terrestrial network (NTN) satellites; base station 120; access point (AP) 130; network function server 160; network 170; and external client 180. Generally, the communication / positioning / sensing system 100 can enable communication between the mobile device 105 and other devices, positioning of the mobile device 105 and / or other devices, RF sensing performed by the mobile device 105 and / or other devices, or a combination thereof. For example, the communication / positioning / sensing system 100 can estimate the position of the mobile device 105 based on the known positions of RF signals received by and / or transmitted from the mobile device 105 and other components that transmit and / or receive RF signals (e.g., GNSS satellite 110, base station 120, AP 130). Additionally or alternatively, wireless devices such as the mobile device 105, base station 120, and satellite 110 (and / or other NTN platforms) can be used to perform positioning (e.g., positioning of one or more wireless devices) and / or perform RF sensing (e.g., RF sensing of one or more objects using RF signals transmitted by one or more wireless devices). The mobile device 105 (also referred to herein as UE 105) may be referred to as a wireless communication device, mobile terminal, terminal, mobile station (MS), secure user plane location enabled (SUPL) terminal (SET), or some other name. Furthermore, mobile device 105 or UE 105 may correspond to a cellular phone, smartphone, laptop computer, tablet computer, personal data assistant (PDA), navigation device, wearable device, Internet of Things (IoT) device, or some other portable or mobile device. In various implementations and specific embodiments, mobile device 105 (UE 105) and / or other mobile devices / UEs discussed herein (e.g., UE 205, UE 145, etc.) may also refer to a vehicle, vehicle system, vehicle component, or computing device associated with a vehicle.

[0032] It should be pointed out that, Figure 1 This is merely a generalized illustration of various components, where any or all of them may be utilized as needed, and each component may be repeated as required. Specifically, although only one mobile device 105 is illustrated, it should be understood that many UEs (e.g., hundreds, thousands, millions, etc.) may utilize the communication / location / sensing system 100. Similarly, the communication / location / sensing system 100 may include more than Figure 1 The illustrated number of base stations 120 and / or access points 130 may vary. The illustrated connections linking the various components in the communication / positioning / sensing system 100 include data and signaling connections, which may include additional (intermediate) components, direct or indirect physical and / or wireless connections and / or additional networks. Furthermore, the components may be rearranged, combined, separated, replaced, and / or omitted depending on desired functionality. In some embodiments, for example, an external client 180 may connect directly to the network function server 160. Those skilled in the art will recognize numerous modifications to the illustrated components.

[0033] Depending on the desired functionality, network 170 may include any of a variety of wireless and / or wired networks. Network 170 may include, for example, any combination of public and / or private networks, local area networks (LANs) and / or wide area networks (WANs). Furthermore, network 170 may utilize one or more wired and / or wireless communication technologies. In some implementations, network 170 may include, for example, cellular or other mobile networks, wireless local area networks (WLANs), wireless wide area networks (WWANs), and / or the Internet. Examples of network 170 include Long Term Evolution (LTE) wireless networks, fifth-generation (5G) wireless networks (also known as New Radio (NR) wireless networks or 5G NR wireless networks), Wi-Fi WLANs, and the Internet. LTE, 5G, and NR are wireless technologies defined or being defined by the Third Generation Partnership Project (3GPP). In LTE, 5G, or other cellular networks, mobile device 105 may be referred to as user equipment (UE). Network 170 may also include more than one network and / or more than one type of network.

[0034] Base station 120 and access point (AP) 130 are communicatively coupled to network 170. In some implementations, base station 120 may be owned, maintained, and / or operated by a cellular network provider and may employ any of a variety of wireless technologies, as described below. Depending on the technology of network 170, base station 120 may include a Node B, an evolved Node B (eNodeB or eNB), a transceiver base station (BTS), a radio base station (RBS), an NR Node B (gNB), a next-generation eNB (ng-eNB), etc. In the case that network 170 is a 5G network, base station 120, as a gNB or ng-eNB, may be part of a next-generation radio access network (NG-RAN) that can connect to a 5G core network (5GC). Given the Open Radio Access Network (O-RAN) and / or Virtualized Radio Access Network (V-RAN or vRAN) in 5G or later networks, the functionality performed by base station 120 in earlier networks (e.g., 3G and 4G) can be divided into different functional components (e.g., Radio Unit (RU), Distributed Unit (DU), and Central Unit (CU)) and layers (e.g., L1 / L2 / L3), which can be performed on different devices at different locations connected, for example, via fronthaul, midhaul, and backhaul connections. As mentioned herein, a “base station” (or ng-eNB, gNB, etc.) may include any or all of these functional components. For example, AP 130 may include a Wi-Fi AP or Bluetooth. ® An access point (AP) or an AP with cellular capabilities (e.g., 4G LTE and / or 5G NR). Therefore, mobile device 105 can access network 170 via base station 120 using a first communication link 133 to transmit and receive information with network-connected devices (such as network function server 160). Additionally or alternatively, because AP 130 can also be communicatively coupled to network 170, mobile device 105 can communicate with network-connected and internet-connected devices (including network function server 160) using a second communication link 135 or via one or more other mobile devices 145.

[0035] As used herein, the term "base station" generally refers to a single physical transmitting point or multiple co-located physical transmitting points that may be located at base station 120. A transmit / receive point (TRP) (also referred to as a transmit / receive point) corresponds to this type of transmitting point, and the term "TRP" may be used interchangeably with the terms "gNB," "ng-eNB," and "base station" herein. In some cases, base station 120 may include multiple TRPs—for example, where each TRP is associated with a different antenna or a different antenna array of base station 120. As used herein, the transmit functionality of a TRP may be performed using a transmit point (TP), and / or the receive functionality of a TRP may be performed by a receive point (RP), which may be physically separate from or different from the TP. That is, a TRP may include both a TP and an RP. A physical transmitting point may include the antenna array of base station 120 (e.g., as in a multiple-input multiple-output (MIMO) system and / or in the case of beamforming at the base station). Depending on various aspects of the applicable 5G cellular standard, a base station 120 (e.g., a gNB) may be able to transmit different “beams” in different directions and perform “beam scanning,” in which signals are transmitted in different directions (e.g., one after another) within different beams. The term “base station” may additionally refer to multiple non-co-located physical transmission points, which may be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common source via a transmission medium) or a remote radio headend (RRH) (a remote base station connected to a base station).

[0036] Satellite 110 can be used for positioning in communications in one or more ways. For example, satellite 110 (also referred to as a spacecraft (SV)) can be part of a Global Navigation Satellite System (GNSS) such as Global Positioning System (GPS), GLONASS, Galileo, or BeiDou. Positioning using RF signals from GNSS satellites can include measuring multiple GNSS signals at a GNSS receiver on mobile device 105 to perform code-based and / or carrier-based positioning, which can be highly accurate. Additionally or alternatively, satellite 110 can be used for NTN-based positioning, wherein satellite 110 can functionally operate as a TRP (or TP) of a network (e.g., LTE and / or NR networks) and can be communicatively coupled to network 170. Specifically, reference signals (e.g., PRS) transmitted by satellite 110 for NTN-based positioning can be similar to those transmitted by base station 120 and can be coordinated by network function server 160, which can operate as a location server. In some embodiments, satellite 110 for NTN-based positioning can be different from those satellites used for GNSS-based positioning. In some implementations, NTN nodes may include non-terrestrial vehicles that can supplement or replace NTN satellites. RF sensing can also be performed using NTN satellite 110 and / or other NTN platforms. As described in more detail below, satellites can use JCS symbols in orthogonal frequency division multiplexing (OFDM) waveforms to allow both RF sensing and / or positioning and communication.

[0037] Network function server 160 may include one or more servers and / or other computing devices configured to provide network management and / or network auxiliary functions, such as operating as a location server and / or sensing server. For example, the location server may determine the estimated location of mobile device 105 and / or provide data (e.g., “auxiliary data”) to mobile device 105 to facilitate location measurement and / or location determination by mobile device 105. According to some embodiments, the location server may include a Home Secure User Plane Positioning (SUPL) location platform (H-SLP) that can support SUPL user plane (UP) location solutions defined by the Open Mobility Alliance (OMA) and can support location services for mobile device 105 based on subscription information about mobile device 105 stored in the location server. In some embodiments, the location server may include a Discovery SLP (D-SLP) or Emergency SLP (E-SLP). The location server may also include an Enhanced Serving Mobility Location Center (E-SMLC) that uses a control plane (CP) location solution to support the positioning of mobile device 105 for LTE radio access of mobile device 105. The location server may also include a location management function (LMF) that uses a control plane (CP) location solution to support the positioning of the mobile device 105 for NR or LTE radio access of the mobile device 105.

[0038] Similarly, network function server 160 can be used as a sensing server. The sensing server can be used to coordinate and / or assist in coordinating the sensing of one or more objects (also referred to herein as “targets”) by one or more wireless devices in communication / location / sensing system 100. This can include mobile device 105, base station 120, access point 130, other mobile device 145, satellite 110, or any combination thereof. Wireless devices capable of performing RF sensing may be referred to herein as “sensing nodes.” To perform RF sensing, the sensing server can coordinate a sensing session in which one or more RF sensing nodes can perform RF sensing by transmitting RF signals (e.g., reference signals (RS)) and measuring reflected signals or “echoes” (including reflections of the transmitted RF signals from one or more objects / targets). For example, reflected signals and object / target detection can be determined from channel state information (CSI) received at a receiving device. Sensing can include (i) monostatic sensing using a single device as both a transmitter (of the RF signal) and a receiver (of the reflected signal); (ii) bistatic sensing using a first device as a transmitter and a second device as a receiver; or (iii) multistatic sensing using multiple transmitters and / or multiple receivers. To facilitate sensing (e.g., in a sensing session between one or more sensing nodes), a sensing server can provide data (e.g., “auxiliary data”) to the sensing nodes to facilitate RS transmission and / or measurement, object / target detection, or any combination thereof. Such data can include RS configurations indicating which resources (e.g., time and / or frequency resources) can be used (e.g., in a sensing session) to transmit RS for RF sensing. According to some embodiments, the sensing server may include a sensing management function (SMF).

[0039] While ground components (such as AP 130 and base station 120) may be fixed, the implementation is not limited to this. Mobile components may be used. For example, in some implementations, the location of mobile device 105 may be estimated at least in part based on measurements of RF signals 140 transmitted between mobile device 105 and one or more other mobile devices 145 (which may be mobile or fixed). As illustrated, other mobile devices may include, for example, mobile phone 145-1, vehicle 145-2, static communication / positioning device 145-3, or other static and / or mobile devices capable of providing wireless signals for locating mobile device 105, or combinations thereof. The wireless signals from mobile device 145 for locating mobile device 105 may include, for example, Bluetooth. ® (Including Bluetooth Low Energy (BLE)), IEEE 802.11x (e.g., Wi-Fi) ®RF signals such as ultra-wideband (UWB), IEEE 802.15x, or combinations thereof. Mobile device 145 may additionally or alternatively use non-RF wireless signals for positioning of mobile device 105, such as infrared signals or other optical technologies.

[0040] The estimated location of mobile device 105 can be used in a variety of applications, such as to assist the user of mobile device 105 in direction finding or navigation, or to assist (e.g., associated with external client 180) another user in locating mobile device 105. "Location" is also referred to herein as "location estimation," "estimated location," "location," "positioning," "location estimation," "location fixation," "estimated positioning," "location fixation," or "fixed." The process of determining location may be referred to as "positioning," "location determination," "location determination," etc. The location of mobile device 105 may include the absolute location of mobile device 105 (e.g., latitude and longitude and possible altitude) or the relative location of mobile device 105 (e.g., expressed as a distance north or south, east or west, and possibly above or below from another known fixed location (including, for example, the location of base station 120 or AP 130) or another location (such as the location of mobile device 105 at a known previous time, or the location of mobile device 145 (e.g., another UE) at a known previous time)). Location can be specified as a geodetic location including coordinates, which can be absolute (e.g., latitude, longitude, and optional altitude), relative (e.g., relative to a known absolute location), or local (e.g., X, Y, and optional Z coordinates according to a coordinate system defined relative to a local area (such as a factory, warehouse, university campus, shopping mall, stadium, or conference center). Location can alternatively be a municipal location and may subsequently include one or more of the following: street address (e.g., including the name or label of country, state, county, city, road, and / or street, and / or road or street number) and / or labels or names of places, buildings, parts of buildings, floors of buildings, and / or rooms within buildings. Location may also include indications of uncertainty or error, such as the expected horizontal distance and possibly vertical distance of the location, or an indication of the area or volume (e.g., a circle or ellipse) within which the mobile device 105 is expected to be located at a certain confidence level (e.g., 95% confidence).

[0041] External client 180 may be a web server or remote application that has some association with mobile device 105 (e.g., accessible by the user of mobile device 105), or it may be a server, application, or computer system that provides location services to one or more other users, including obtaining and providing the location of mobile device 105 (e.g., to enable services such as finding friends or relatives or locating children or pets). Additionally or alternatively, external client 180 may obtain the location of mobile device 105 and provide it to emergency service providers, government agencies, etc.

[0042] As previously noted, the example communication / positioning / sensing system 100 can be implemented using wireless communication networks such as LTE-based or 5G NR-based networks or future 6G networks. Figure 2 A diagram of a 5G NR network 200 is shown, illustrating an implementation scheme of a communication system (e.g., a communication / location / sensing system 100) implemented in 5G NR. The 5G NR network 200 can be configured to enable wireless communication and determine a UE 205 (which may correspond to...) using an access node. Figure 1 The access nodes (105) may include NR NodeBs (gNBs) 210-1 and 210-2 (collectively referred to herein as gNB 210), ng-eNB 214, and / or WLAN 216, which may be used to locate mobile devices (105) and perform RF sensing or a combination thereof. These access nodes may use RF signaling to communicate, implement one or more location methods, and / or perform RF sensing. gNB 210 and / or ng-eNB 214 may be used with... Figure 1 Corresponding to base station 120, and WLAN 216 can be connected to... Figure 1 One or more access points 130 correspond to this. Optionally, the 5G NR network 200 may be additionally configured to determine the location of the UE 205 using an LMF 221 (which may correspond to a location server 160) to implement one or more positioning methods. The LMF 221 may coordinate RF sensing of the 5G NR network 200. Here, the 5G NR network 200 includes the UE 205 and components of the 5G NR network, including a next-generation (NG) radio access network (RAN) (NG-RAN) 235 and a 5G core network (5G CN) 240. The 5G NR network 200 may also be referred to as a 5G network and / or an NR network; the NG-RAN 235 may be referred to as a 5G RAN or an NR RAN; and the 5G CN 240 may be referred to as an NG core network. Additional components of the 5G NR network 200 are described below. The 5G NR network 200 may include additional or optional components.

[0043] The 5G NR network 200 can also utilize information from satellite 110. As previously indicated, satellite 110 may include GNSS satellites from GNSS systems such as the Global Positioning System (GPS) or similar systems (e.g., GLONASS, Galileo, BeiDou, Indian Regional Navigation Satellite System (IRNSS)). Alternatively or additionally, satellite 110 may include NTN satellites that can be communicatively coupled to LMF 220 and operatively used as TRPs (or TPs) in NG-RAN 235. Thus, satellite 110 can communicate with one or more gNBs 210.

[0044] It should be pointed out that, Figure 2 This is only a generalized illustration of various components. Any or all of these components may be utilized as appropriate, and each of these components may be repeated or omitted as needed. Specifically, although only one UE 205 is illustrated, it should be understood that many UEs (e.g., hundreds, thousands, millions, etc.) may utilize the 5G NR network 200. Similarly, the 5G NR network 200 may include more (or fewer) numbers of satellites 110, gNB 210, ng-eNB 214, wireless local area network (WLAN) 216, access and mobility management functions (AMF) 215, external clients 230, and / or other components. The illustrated connections linking the various components in the 5G NR network 200 include data and signaling connections, which may include additional (intermediate) components, direct or indirect physical and / or radio connections, and / or additional networks. Furthermore, the components may be rearranged, combined, separated, replaced, and / or omitted according to desired functionality.

[0045] UE 205 may include and / or be referred to as a device, mobile device, wireless device, mobile terminal, terminal, mobile station (MS), Secure User Plane Location Enabled (SUPL) terminal (SET), or some other name. Furthermore, UE 205 may correspond to a cellular phone, smartphone, laptop computer, tablet computer, personal data assistant (PDA), navigation device, wearable device, Internet of Things (IoT) device, or some other portable or mobile device. In various implementations and specific embodiments, UE 205 and / or other UEs discussed herein (e.g., UE 105, UE 145, etc.) may also refer to a vehicle, vehicle system, vehicle component, or computing device associated with a vehicle. Typically, although not required, UE 205 may support one or more radio access technologies (RATs) such as GSM, CDMA, W-CDMA, LTE, High Rate Packet Data (HRPD), IEEE 802.11 Wi-Fi. ®Bluetooth, WiMAX global microwave access interoperability ™ Wireless communication such as 5G NR (e.g., using NG-RAN235 and 5G CN 240). UE 205 can also support wireless communication using WLAN 216, which is similar to one or more RATs, and as previously mentioned for... Figure 1 (As indicated) can connect to other networks, such as the Internet. Using one or more of these RATs allows UE 205 (e.g., via...) Figure 2 The 5G CN 240 (not shown) may communicate with external client 230 via Gateway Mobile Location Center (GMLC) 225 and / or allow external client 230 (e.g., via GMLC 225) to receive location information about UE 205. When implemented in or communicatively coupled to a 5G NR network, Figure 2 The external client 230 can correspond to Figure 1 External client 180.

[0046] UE 205 may include a single entity or may include multiple entities, such as in a personal area network in which the user may employ audio, video, and / or data I / O devices, and / or body sensors, as well as separate wired or wireless modems. The estimation of the location of UE 205 may be referred to as location, location estimate, location fixation, fixation, positioning, location estimation, or location fixation, and may be geodetic, providing the location coordinates of UE 205 (e.g., latitude and longitude), which may or may not include an elevation component (e.g., height above sea level; height above ground level, floor level, or basement level, or depth below). Alternatively, the location of UE 205 may be expressed as a municipal location (e.g., a postal address or designation of a point or smaller area within a building, such as a specific room or floor). The location of UE 205 may also be expressed as an area or volume (geodetic or municipally defined) in which UE 205 is expected to be located with a certain probability or confidence level (e.g., 67%, 95%, etc.). The location of UE 205 can also be a relative location, including, for example, distance and direction defined relative to an origin at a known location, or relative to X, Y (and Z) coordinates, which can be a geodetic site, defined in municipal form, or defined with reference to a point, area, or volume indicated on a map, floor plan, or building plan. In the description contained herein, the use of the term "location" can include any of these variations unless otherwise indicated. When calculating the location of the UE, local X, Y, and possibly Z coordinates are typically solved, and then, if necessary, the local coordinates are converted to absolute coordinates (e.g., with respect to latitude, longitude, and elevation above or below mean sea level).

[0047] Figure 2 The base station shown in NG-RAN 235 can correspond to Figure 1 The base station 120 in the NG-RAN 235 may include gNB 210. Pairs of gNB 210 in the NG-RAN 235 may be connected to each other (e.g., as shown in the image). Figure 2 The connection may be direct or indirect via another gNB 210. The communication interface between the base stations (gNB 210 and / or ng-eNB 214) may be referred to as the Xn interface 237. Access to the 5G network is provided to the UE 205 via wireless communication between the UE 205 and one or more gNBs 210. This wireless communication may use 5G NR to provide wireless communication access to the 5G CN 240 on behalf of the UE 205. The radio interface between the base station (gNB 210 and / or ng-eNB 214) and the UE 205 may be referred to as the Uu interface 239. 5G NR radio access may also be referred to as NR radio access or 5G radio access. Figure 2 In this context, the serving gNB of UE 205 is assumed to be gNB 210-1, but other gNBs (e.g., gNB 210-2) may act as serving gNBs or as secondary gNBs to provide additional throughput and bandwidth to UE 205 if UE 205 moves to another location.

[0048] Figure 2 The base stations in the NG-RAN 235 shown may also, or alternatively, include a next-generation evolved Node B (also referred to as an ng-eNB) 214. The ng-eNB 214 may be connected to one or more gNBs 210 in the NG-RAN 235—for example, directly or indirectly via other gNBs 210 and / or other ng-eNBs. The ng-eNB 214 may provide LTE radio access and / or evolved LTE (eLTE) radio access to the UE 205. Figure 2Some gNBs 210 (e.g., gNB 210-2) and / or ng-eNBs 214 may be configured to act as location-only beacons, which may transmit signals (e.g., a location reference signal (PRS)) and / or broadcast auxiliary data to assist in the location of UE 205, but may not receive signals from UE 205 or from other UEs. Some gNBs 210 (e.g., gNB 210-2 and / or another gNB not shown) and / or ng-eNBs 214 may be configured to act as detection-only nodes, which may scan for signals containing, for example, PRS data, auxiliary data, or other location data. Such detection-only nodes may not transmit signals or data to the UE, but may transmit signals or data (involving, for example, PRS, auxiliary data, or other location data) to other network entities (e.g., one or more components of the 5G CN 240, external client 230, or controller), which may receive and store the data or use the data to locate at least UE 205. It should be noted that, although Figure 2 Only one ng-eNB 214 is shown, but some implementations may include multiple ng-eNB 214s. Base stations (e.g., gNB 210 and / or ng-eNB 214) can communicate directly with each other via the Xn communication interface. Additionally or alternatively, base stations can communicate directly or indirectly with other components of the 5G NR network 200 (such as LMF 220 and AMF 215).

[0049] The 5G NR network 200 may also include one or more WLANs 216, which may connect to the non-3GPP interoperability function (N3IWF) 250 in the 5GCN 240 (e.g., in the case of untrusted WLAN 216). For example, WLAN 216 may support IEEE 802.11 Wi-Fi access for UE 205 and may include one or more Wi-Fi APs (e.g., Figure 1(AP 130). Here, N3IWF 250 can connect to other components in 5G CN 240, such as AMF 215. In some implementations, WLAN 216 may support another RAT, such as Bluetooth. N3IWF 250 may provide support for secure access of UE 205 to other components in 5G CN 240 and / or may support interoperability between one or more protocols used by WLAN 216 and UE 205 and one or more protocols used by other components of 5GCN 240 such as AMF 215. For example, N3IWF 250 may support IPSec tunnel establishment with UE 205, termination of IKEv2 / IPSec protocol with UE 205, termination of N2 and N3 interfaces to 5G CN 240 for control plane and user plane respectively, and relay of uplink (UL) and downlink (DL) control plane non-access stratum (NAS) signaling across N1 interface between UE 205 and AMF 215. In some other implementations, WLAN 216 can be directly connected to components in 5G CN 240 (e.g., such as...). Figure 2 The dashed line in the diagram shows AMF 215) and it does not pass through N3IWF 250. For example, a direct connection between WLAN 216 and 5GCN 240 can occur if WLAN 216 is a trusted WLAN to 5GCN 240, and a Trusted WLAN Interoperability (TWIF) function that can be an internal component of WLAN 216 can be used. Figure 2 (Not shown in the image) to achieve this. It should be noted that, although Figure 2 Only one WLAN 216 is shown, but some implementations may include multiple WLAN 216s.

[0050] The access node may include any of a variety of network entities that enable communication between UE 205 and AMF 215. As noted, this may include gNB 210, ng-eNB 214, WLAN 216, and / or other types of cellular base stations. However, the access node providing the functionality described herein may additionally or alternatively include entities that enable communication with... Figure 2 An entity that communicates with any of the various RATs not illustrated herein (which may include non-cellular technologies). Therefore, as used herein in the embodiments described below, the term "access node" may include, but is not limited to, gNB 210, ng-eNB 214, or WLAN 216.

[0051] In some implementations, access nodes (such as gNB 210, ng-eNB 214, and / or WLAN 216) (alone or in combination with other components of the 5G NR network 200) can be configured to: in response to a request for location information received from LMF 220, obtain location measurements of uplink (UL) signals received from UE 205 and / or obtain DL location measurements obtained by UE 205 for downlink (DL) signals received by UE 205 from one or more access nodes. As noted, although Figure 2 Access nodes (gNB210, ng-eNB 214, and WLAN 216) configured to communicate according to 5G NR, LTE, and Wi-Fi communication protocols are depicted. However, access nodes configured to communicate according to other communication protocols can be used, such as a Node B using a Wideband Code Division Multiple Access (WCDMA) protocol for Universal Mobile Telecommunications Service (UMTS) Terrestrial Radio Access Network (UTRAN), an eNB using an LTE protocol for Evolved UTRAN (E-UTRAN), or a Bluetooth Node using a Bluetooth protocol for WLAN. ® Beacon. For example, in a 4G evolved packet system (EPS) providing LTE radio access to UE 205, the RAN may include an E-UTRAN, which may include base stations containing eNBs supporting LTE radio access. The core network for the EPS may include an evolved packet core (EPC). The EPS may then include an E-UTRAN plus an EPC, where... Figure 2 In this context, E-UTRAN corresponds to NG-RAN 235 and EPC corresponds to 5GCN 240. The methods and techniques described herein for obtaining the municipal location of UE 205 are applicable to other networks of this type.

[0052] gNB 210 and ng-eNB 214 can communicate with AMF 215, which in turn communicates with LMF 220 for location functionality. AMF 215 can support the mobility of UE 205, including cell changes and handovers from the access node of a first RAT (e.g., gNB 210, ng-eNB 214, or WLAN 216) to the access node of a second RAT. AMF 215 can also participate in supporting signaling connections to UE 205 and, where possible, data and voice bearers for UE 205. The LMF 220 supports the use of a CP location solution to locate UE 205 when UE 205 accesses NG-RAN 235 or WLAN 216, and supports location procedures and methods, including UE-assisted / UE-based and / or network-based procedures / methods, such as A-GNSS, Observed Time Difference of Arrival (OTDOA) (which may be referred to as Time Difference of Arrival (TDOA) in NR), Frequency Difference of Arrival (FDOA), Real-Time Kinematics (RTK), Precise Point Positioning (PPP), Differential GNSS (DGNSS), Enhanced Cell ID (ECID), Angle of Arrival (AoA), Angle of Departure (AoD), WLAN positioning, Round-Trip Propagation Delay (RTT), Multi-Cell RTT, and / or other location procedures and methods. The LMF 220 can also handle location service requests for UE 205 received, for example, from AMF 215 or GMLC 225. The LMF 220 can connect to AMF 215 and / or GMLC 225. In some implementations, networks such as 5GCN 240 may additionally or alternatively implement other types of location support modules, such as an evolved Serving Mobility Location Center (E-SMLC) or a SUPL Location Platform (SLP). It should be noted that in some implementations, at least a portion of the location functionality (including determining the location of UE 205) may be performed at UE 205 (e.g., by measuring downlink PRS (DL-PRS) signals transmitted by radio nodes such as gNB 210, ng-eNB 214, and / or WLAN 216 and / or using auxiliary data provided to UE 205, for example, by LMF 220).

[0053] Gateway Mobile Location Center (GMLC) 225 can support location requests for UE 205 received from external client 230 and can forward such location requests to AMF 215 for forwarding to LMF 220. Location responses from LMF 220 (e.g., containing location estimates for UE 205) can similarly be returned to GMLC 225 directly or via AMF 215, and GMLC 225 can then return the location response (e.g., containing location estimates) to external client 230.

[0054] Network Open Function (NEF) 245 can be included in 5GCN 240. NEF 245 can support the secure opening of capabilities and events of 5GCN 240 and UE 205 to external client 230. This secure opening can then be referred to as an Access Function (AF) and enables secure provisioning of information from external client 230 to 5GCN 240. NEF 245 can connect to AMF 215 and / or GMLC 225 to obtain the location of UE 205 (e.g., municipal location) and provide that location to external client 230.

[0055] like Figure 2 As further illustrated, the LMF 220 can communicate with the gNB 210 and / or the ng-eNB 214 using NR Location Protocol Annex (NRPPa) as defined in 3GPP Technical Specification (TS) 38.455. NRPPa messages can be transmitted between the gNB 210 and the LMF 220 and / or between the ng-eNB 214 and the LMF 220 via the AMF 215. Figure 2 As further illustrated, LMF 220 and UE 205 can communicate using the LTE Location Protocol (LPP) as defined in 3GPP TS 37.355. Here, LPP messages can be transmitted between UE 205 and LMF 220 via AMF 215 and the serving gNB 210-1 or serving ng-eNB 214 for UE 205. For example, LPP messages can be transmitted between LMF 220 and AMF 215 using service-based operation messages (e.g., based on Hypertext Transfer Protocol (HTTP)), and LPP messages can be transmitted between AMF 215 and UE 205 using the 5G NAS protocol. The LPP protocol can be used to support the location of UE 205 using UE-assisted and / or UE-based location methods such as A-GNSS, RTK, TDOA, multi-cell RTT, AoD, and / or ECID. The NRPPa protocol can be used to support the location of UE 205 using network-based location methods such as ECID, AoA, and uplink TDOA (UL-TDOA) and / or can be used by LMF220 to obtain location-related information from gNB 210 and / or ng-eNB 214, such as defining parameters sent by DL-PRS from gNB 210 and / or ng-eNB 214.

[0056] When UE 205 accesses WLAN 216, LMF 220 can use NRPPa and / or LPP to obtain the location of UE 205 in a manner similar to that described just for UE 205 accessing gNB 210 or ng-eNB 214. Therefore, NRPPa messages can be transmitted between WLAN 216 and LMF 220 via AMF 215 and N3IWF 250 to support network-based location and / or other location information transmission of UE 205 from WLAN 216 to LMF 220. Alternatively, NRPPa messages can be transmitted between N3IWF 250 and LMF 220 via AMF 215 to support network-based location of UE 205 based on location-related information and / or location measurements transmitted from N3IWF 250 to LMF 220 using NRPPa, which is known or accessible to N3IWF 250. Similarly, LPP and / or LPP messages can be transmitted between UE 205 and LMF 220 via AMF 215, N3IWF 250 and UE 205’s serving WLAN 216 to support UE-assisted or UE-based positioning of UE 205 by LMF 220.

[0057] As mentioned above, cellular networks such as 5G NR cellular networks and / or satellite networks can be used to transmit (e.g., download) HD map data for navigation and / or autonomous driving.

[0058] Figure 3 A perspective view 300 of a vehicle 310 according to certain embodiments is shown, illustrating methods by which the vehicle 310 (e.g., a mobile computing system on the vehicle 310, such as a UE) can download map data and / or update maps. In some embodiments, the vehicle 310 may first (e.g., using information about...) Figure 1 The system discussed determines its location and then requests the download of map data and / or updates corresponding to the determined location. For example, vehicle 310 may request map data or updates relating to an area within a predetermined radius of the determined location of vehicle 310 or along a predetermined distance along the expected route of vehicle 310. In other words, when vehicle 310 approaches or enters a specific area, vehicle 310 may download an HD map of that area from the server.

[0059] It should be understood that while map data and / or updates can be downloaded based on the vehicle's location estimate, the embodiments are not limited to this. In some embodiments, map data and / or updates are also downloaded / installed independently of the current location of the vehicle 310. For example, map data and / or updates can be downloaded based on user selections related to the area of, for example, an upcoming trip (e.g., a navigation application or a user of an autonomous vehicle). Additionally or alternatively, the vehicle 310 may periodically check / detect the availability of map updates for existing HD maps (e.g., those already downloaded, installed, and stored on any of a variety of suitable storage media).

[0060] In some implementations, a GNSS receiver at vehicle 310 can be used to perform positioning of vehicle 310 to receive radio frequency (RF) signals transmitted by GNSS satellite 320. (Of course, although for visual simplicity, Figure 3 Satellite 320 is illustrated as being relatively close to vehicle 310, but it should be understood that satellite 320 will be in orbit around the Earth. Furthermore, satellite 320 could be part of a large satellite constellation within a GNSS system. Figure 3 (Additional satellites for this type of constellation are not shown.) GNSS satellite 320 can correspond to... Figure 1 or Figure 2 Satellite 110. Alternatively, ground positioning can be performed using RF signals from ground beacons and transceivers (such as base stations from cellular communication networks). Vehicle sensors and HD maps can also be used to help determine the accurate location of vehicle 310. (For...) Figure 4 Additional details are provided regarding how these different components can be used for positioning. The positioning of vehicle 310 can be used for purposes other than surveying, such as vehicle handling and navigation.

[0061] Figure 4This is a block diagram of a positioning estimation system 400 according to an implementation scheme, providing an example of a vehicle system that can utilize HD maps. The positioning estimation system 400 collects data from various sources and outputs a positioning estimate of the vehicle. This positioning estimate can be used by autonomous driving systems, ADAS systems, and / or other systems on the vehicle, as well as systems remote from the vehicle (e.g., traffic monitoring systems). Additionally, as noted, the positioning estimate of the vehicle can be used by a mapping system when performing the mapping techniques described below. The positioning estimation system 400 includes sensors 405, including one or more cameras 410, an inertial measurement unit (IMU) 420, a GNSS unit 430, and a radar 435. The positioning estimation system 400 also includes a sensing unit 440, a map database 450, and a positioning unit 460, which includes a sensor positioning unit 470 and a map fusion unit 480. In alternative implementations, depending on the desired functionality, Figure 4 The illustrated components may be combined, separated, omitted, rearranged, and / or otherwise modified. Furthermore, in alternative embodiments, additional or alternative data and / or data sources may be used to determine the positioning estimate. For example, sensor 405 may include one or more additional or alternative sensors (e.g., lidar, sonar, etc.). One or more components of the positioning estimation system 400 may be implemented in hardware and / or software, such as… Figure 7 One or more hardware and / or software components of the mobile computing system 700, illustrated and described in more detail below. For example, the positioning unit 460 may be implemented by one or more processing units. The various hardware and / or software components implementing the positioning estimation system 400 may be distributed at various different locations on the vehicle, depending on the desired functionality.

[0062] Wireless transceiver 425 may include one or more RF transceivers (e.g., Wi-Fi transceivers, wireless wide area network (WWAN) or cellular transceivers, Bluetooth transceivers, etc.) for receiving positioning data from various terrestrial positioning data sources. These terrestrial positioning data sources may include, for example, Wi-Fi access points (APs) (including Wi-Fi signals such as Dedicated Source Range Communication (DSRC) signals), cellular base stations (e.g., cellular-based signals such as Position Reference Signals (PRS) or signals transmitted via Vehicle-to-Everything (V2X), Cellular V2X (CV2X), or Long Term Evolution (LTE) Direct Protocol), and / or other positioning sources (such as roadside units (RSUs)). Wireless transceiver 425 may also be used for wireless communication (e.g., via Wi-Fi, cellular, etc.), in which case wireless transceiver 425 may be incorporated into the wireless communication interface of a vehicle.

[0063] GNSS unit 430 may include a GNSS receiver and GNSS processing circuitry configured to receive signals and GNSS-based positioning data from GNSS satellites (e.g., satellites 110 and / or 320). The positioning data output by GNSS unit 430 may vary depending on desired functionality. In some embodiments, GNSS unit 430 may provide three-degree-of-freedom (3-DOF) positioning determination (e.g., latitude, longitude, and altitude), etc. Additionally or alternatively, GNSS unit 430 may output base satellite measurements for 3-DOF positioning determination. Additionally or alternatively, GNSS unit may output raw measurements, such as pseudorange and carrier phase measurements.

[0064] Camera 410 may include one or more cameras mounted on or within a vehicle, configured to capture images from the perspective of the vehicle to aid in tracking its movement. Camera 410 may be positioned on the vehicle facing forward, upward, backward, downward, and / or otherwise. Other aspects of camera 410, such as resolution, optical band (e.g., visible light, infrared (IR), etc.), frame rate (e.g., 30 frames per second (FPS), etc.), may be determined based on desired functionality. Various image processing techniques may be used to track the movement of vehicle 310 from images captured by camera 410 to determine motion blur, object tracking, etc. The raw images and / or the resulting information may be passed to sensor localization unit 470, which may use data from both camera 410 and IMU 420 to perform visual inertial ranging (VIO).

[0065] IMU 420 may include one or more accelerometers, gyroscopes, and / or (optionally) other sensors (such as magnetometers) to provide inertial measurements. Similar to camera 410, the output of IMU 420 to sensor positioning unit 470 may vary depending on desired functionality. In some embodiments, the output of IMU 420 may include information indicating the 3-DOF positioning or 6-DOF attitude of vehicle 310 and / or the 6-DOF linear and angular velocities of vehicle 310, and may be provided periodically based on scheduling and / or in response to triggering events. Positioning information may be relative to an initial positioning or a reference positioning. Alternatively, IMU 420 may provide raw sensor measurements.

[0066] Radar 435 may include one or more radar sensors disposed in or on a vehicle. Similar to camera 410, the radar may be positioned forward, upward, backward, downward, and / or otherwise on the vehicle to collect information about the vehicle's surrounding environment. According to some embodiments, the radar may scan the area or volume near the vehicle at a rate of once or several times per second (e.g., 5, 10, 20, 50, or 100 times per second), and this scanning rate may be dynamic, depending on sensor capabilities, processing power, traffic conditions, etc. A radar scan may also be referred to herein as a "frame." Radar may complement other sensors to help provide robust autonomous characteristics. For example, achieving truly autonomous driving may require robust solutions for positioning in all types of weather and environmental conditions, enabling the vehicle to know its attitude within centimeters. Like the human eye, lidar and cameras are ineffective at night or when there is too much fog in the surrounding environment. Global positioning sensors (such as GNSS) may be unavailable in underground or tunnel scenarios and may also face challenges in urban canyon scenarios. In some implementations, radar sensors may utilize lower frequencies, such as millimeter-wave (mmWave) radar (e.g., with frequencies in the range of 30 GHz to 300 GHz), to achieve sub-meter accuracy positioning in such challenging scenarios.

[0067] Sensor localization unit 470 may include modules (implemented in software and / or hardware) configured to fuse data from sensor 405 to determine the location of a vehicle. As noted, sensor localization unit 470 may perform VIO by combining data received from camera 410 and IMU 420. As a supplement to or alternative to VIO data, sensor localization unit 470 may utilize data from GNSS unit 430, radar 435, and / or radio transceiver 425 to determine the location of the vehicle and / or modify the determined location of the vehicle. In some embodiments, data from different sensors may be assigned different weights based on input type, confidence metric (or other indication of the reliability of the input), etc. Generally, sensor localization unit 470 may output an estimated location of the vehicle based on the received input. Depending on the accuracy of the received input (e.g., the accuracy of the data from sensor 405), the output of sensor localization unit 470 may include a highly accurate vehicle location estimate in the global frame (or other reference frame) of map fusion unit 480.

[0068] Map fusion unit 480 operates to provide a vehicle location estimate within a map frame based on a location estimate from sensor positioning unit 470 and information from map database 450 and perception unit 440. Map database 450 provides a 3D map (e.g., a high-resolution (HD) map in the form of one or more electronic files, data objects, etc.) of the area where vehicle 310 is located, and perception unit 440 can observe lane markings, traffic signs, and / or other visual features in the environment surrounding the vehicle. For this purpose, perception unit 440 may include a feature extraction engine that performs image processing and computer vision on images received from camera 410. In some embodiments, perception unit 440 may also operate using input from radar 435 and / or other sensors (e.g., lidar).

[0069] As previously noted, the positioning estimate provided by map fusion unit 480 (i.e., the output of positioning unit 460) can serve any of a variety of functions depending on the desired functionality. For example, it can be provided to autonomous driving, ADAS, and / or other systems of vehicle 310 (and can be transmitted via a controller area network (CAN) bus), transmitted to devices separate from vehicle 310 (including other vehicles; servers maintained by government agencies, service providers, etc.; etc.), displayed on the vehicle's display (e.g., displayed to the driver or other users for navigation or other purposes), and so on. According to embodiments herein, the vehicle can additionally use the vehicle's positioning estimate to perform map data / update downloads.

[0070] As explained above, HD maps are typically generated based on the combination and analysis of information about road networks and traffic patterns, using various sensors and data sources (e.g., information about...). Figure 4 The data is collected by describing one or more units and / or components. Using sophisticated processing techniques, HD map data can be combined with inputs from sensors on vehicles to generate detailed and continuously updated environmental maps in real time. For example, refer again Figure 3When vehicle 310 is traveling within a geographic area corresponding to an area on the HD map, vehicle 310 can use different sensors (e.g., sensor 405) to collect information from different corresponding map layers of the HD map. For example, one or more cameras (e.g., camera 410) can be used to collect information from the camera map layer, radar (e.g., radar 435) can be used to collect information from the radar map layer, lidar can be used to collect information from the lidar map layer, and so on. Map data (e.g., map layer information) about the road 325 on which vehicle 310 is traveling (e.g., lane boundary information, road curvature, road hazards, etc.) can be collected, as well as map layer information about static objects 330 in or near the road 325. (Although...) Figure 3 Static objects in the map are instantiated as trees, but other static objects may include traffic signs, sidewalks, traffic lights, mile markers, etc. In some implementations, the map data may also filter out dynamic objects 340. Dynamic objects may generally include moving objects, such as other vehicles, pedestrians, cyclists, etc.

[0071] When used for navigation and / or autonomous driving, HD map data is typically received / downloaded from a server or cloud-based system. This is done via a connection such as cellular or satellite (e.g., Figure 1 or Figure 2 By accessing the HD map data via wireless networks such as communication / positioning / sensing systems, autonomous vehicles can gain valuable insights to guide their behavior and decision-making.

[0072] As discussed above, when the primary map (e.g., the downloaded and / or installed main HD map) is corrupted (discussed in detail below), as a precaution, the system can fall back to a secondary map (e.g., a backup map). Compared to the primary map, the secondary map may include a lower level of detail, be updated less frequently, and be stored in a less accessible but more permanent location (and therefore less susceptible to data corruption). Therefore, in existing technical solutions, the secondary map may often contain outdated information, which can lead to reliability issues and compromise security when relied upon (e.g., when the primary map is corrupted).

[0073] The technical solution disclosed herein can be implemented to maintain the reliability of HD maps and ensure the availability of up-to-date and accurate data for navigation and / or autonomous driving by identifying “major map updates” and applying them to secondary maps. Therefore, even when relying on secondary maps (e.g., when the primary map is corrupted), the secondary maps can still provide up-to-date and accurate data for navigation and / or autonomous driving. This enhances the operational safety of autonomous vehicles. Additionally or alternatively, the system can dynamically update the secondary maps using user-preferred / new routes, thereby improving the user experience.

[0074] Figure 5 This is a high-level block diagram of methods for enhancing the reliability of HD maps according to some implementation schemes. In some implementation schemes, the functionality at block 505 may be provided by means of vehicles (e.g., Figure 3 The mobile computing system 501 associated with the vehicle 310 in the middle (e.g., corresponding to the vehicle 310 in the middle) (e.g., the mobile computing system 501 associated with the vehicle 310 in the middle) Figure 1 Mobile device 145 and / or UE 105, and / or Figure 2 To execute (UE 205 in the example), such as Figure 7 The mobile computing system 700 is illustrated and described below. Server 510 can be a dedicated server or any other suitable server, such as... Figure 8 The illustrated computing system 800 can be accessed via a wireless network (e.g., Figure 1 and / or Figure 2 The communication / positioning / sensing system in the vehicle is used to facilitate communication between the vehicle's computing system 501 and the server 510.

[0075] At box 515, mobile computing system 501 may check / detect whether HD map data and / or one or more map updates are available. If available, mobile computing system 501 may download / receive HD map data and / or one or more map updates from server 510. In some embodiments, map updates may take into account changes in roads, traffic patterns, points of interest, etc., and may involve one or more master HD maps (e.g., master maps) stored in media accessible to mobile computing system 501 (located local to the vehicle). In some embodiments, mobile computing system 501 may periodically (e.g., at predetermined intervals) check for map updates.

[0076] At box 516, the mobile computing system 501 can determine whether the download was successful. In some implementations, an unsuccessful download may be caused by outdated map updates and / or map updates incompatible with the main HD map. Additionally or alternatively, an unsuccessful download may also be caused by data transmission problems (e.g., incomplete transmission due to interruption or network connectivity issues).

[0077] In response to a download failure (e.g., "No" at box 516), at box 518, the mobile computing system 501 may determine whether the main HD map (e.g., the main map in use / operation or to be used) is corrupted. In some embodiments, corruption of the HD map may be caused by various detectable events, including but not limited to: (1) software or data errors (e.g., errors occurring during map creation, data transmission, or updates), (2) malicious tampering (e.g., unauthorized access to vehicle systems, hacking attempts, or injection of malicious data into the map database), (3) physical damage or failure of vehicle hardware components (such as GPS receivers or storage devices (e.g., general-purpose flash memory)), (4) the downloaded map update is outdated or incompatible with the main HD map, (5) data transmission problems, and (6) software anomalies.

[0078] In response to the main HD map not being damaged, at box 520, the mobile computing system 501 may output and / or use the main HD map for navigation and / or autonomous driving.

[0079] In response to the corruption of the primary HD map, at box 530, the mobile computing system 501 may output and / or fall back to a backup map (e.g., relying on a secondary map) for navigation and / or autonomous driving.

[0080] Returning to reference box 516, in response to a successful download, at box 535, the mobile computing system 501 can apply map updates to the main HD map (e.g., use map updates to update the main HD map). The updated main HD map may include road pattern changes indicating specific updates and modifications made to the main HD map. Additionally or alternatively, the updated main HD map may also include new routes, new markers / traffic information, new destinations, etc.

[0081] At box 536, mobile computing system 501 may determine whether a map update is “significant” (e.g., includes “significant” feature changes). For example, mobile computing system 501 may determine whether the updated master HD map includes one or more structural feature changes (e.g., “significant” feature changes) corresponding to real-world structural changes represented in the master HD map. In some implementations, real-world structural changes may include “permanent” changes (e.g., “significant” changes) that may have a long-term (e.g., longer than one year) impact on driving / routing of vehicles. Examples of “significant” changes may include, but are not limited to: adding new lanes to roads, adding underpasses / overpasses, constructing new roads, adding objects / roadblocks, adding traffic signs / signals, establishing pedestrian zones or areas, adding public transportation and / or bicycle lanes, etc. If a map update includes one or more structural feature changes corresponding to real-world structural changes (e.g., “significant” changes) represented in the master HD map, the map update may be considered “significant” for updating the backup map. In contrast, “temporary” or “dynamic” changes that have an impact on driving / routing of vehicles and are intended to be short-term (e.g., less than a few months) (such as traffic congestion, accidents, potholes, road maintenance, etc.) as well as changes that may not affect driving of vehicles (such as the installation of non-traffic-related signs (e.g., advertisements, information boards), landscaping changes (e.g., planting new trees or gardens along the roadside), or modifications or constructions of buildings that do not obstruct visibility or the road surface itself and are set back from the road) may not be considered “significant” and may be filtered out when updating backup maps.

[0082] In some implementations, changes in the structural features of the updated HD map can be determined by evaluating the differences between the updated HD map and the master HD map. Various techniques can be used to determine these differences, such as feature-based comparisons, machine learning, or statistical methods (e.g., determining whether the difference exceeds a predetermined value).

[0083] In response to a map update being "significant," the mobile computing system 501 may apply the map update to a backup map (e.g., apply "significant" feature changes). Therefore, the updated backup map may include one or more structural feature changes from the updated main HD map. Additionally or alternatively, the updated backup map may also include user-preferred routes / new routes. Thus, the backup map may include up-to-date and accurate data for navigation and / or autonomous driving, thereby enhancing the reliability of the HD map.

[0084] In some implementations, when an updated main HD map and an updated backup HD map are provided for navigation, the mobile computing system 501 may: (1) determine whether the updated main HD map is corrupted, (2) in response to the updated main HD map being corrupted, use the updated backup HD map for navigation, and (3) in response to the updated main HD map not being corrupted, use the updated main HD map for navigation.

[0085] Figure 6 This is a flowchart illustrating a method for enhancing the reliability of HD maps, executed by the UE according to some implementation schemes. The UE may correspond to... Figure 1 Mobile device 145 and / or UE 105, UE 205. Used to perform Figure 6 The functional components illustrated in one or more boxes shown may be executed by hardware (e.g., processor) and / or software components of a UE (e.g., UE 105) or a computer-readable device including a storage medium storing computer-readable and / or computer-executable instructions configured to cause the at least one processor device or computerized device to perform operations when executed by a processor device. Figure 7 The example components of a UE (e.g., mobile computing device 700) are illustrated below, and these example components will be described in more detail below. As noted above, the UE can be configured to / is able to perform HD map reliability enhancements.

[0086] It should also be noted that the operations of method 600 can be performed in any suitable order, and do not have to be... Figure 6 The order described. Furthermore, method 600 may include a ratio... Figure 6 The feasibility is determined by whether the described operations involve more or fewer steps.

[0087] At box 605, method 600 may include receiving map updates wirelessly via at least one transceiver.

[0088] Components used to perform functionality at block 605 may include bus 705, processor 710, wireless communication interface 730, memory 760, and / or other components of UE 105, such as Figure 7 exemplified.

[0089] At box 610, method 600 may include updating the main HD map based on received map updates. As discussed above, in some implementations, the UE may check / detect whether HD map data and / or one or more map updates are available. If available, the UE may retrieve the data from a server (e.g., Figure 5The UE downloads HD map data and / or one or more map updates from server 510. In some embodiments, map updates may take into account changes in roads, traffic patterns, points of interest, etc., and may involve one or more master HD maps (e.g., master maps) stored in media accessible to the UE (located locally on the vehicle). Additionally or alternatively, the updated master HD maps may also include new routes, new markers / traffic information, new destinations, etc. In some embodiments, the UE may periodically (e.g., at predetermined intervals) check for map updates.

[0090] Components used to perform functionality at block 610 may include bus 705, processor 710, wireless communication interface 730, memory 760, and / or other components of UE 105, such as Figure 7 exemplified.

[0091] At box 620, method 600 may include determining one or more structural feature changes in the updated master HD map based on the differences between the updated master HD map and the master HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the master HD map.

[0092] In some implementations, real-world structural changes may include: (1) the addition of new lanes, (2) the construction of underpasses, (3) the construction of overpasses, (4) the construction of new roads, or any combination thereof.

[0093] In some implementations, determining one or more structural feature changes of the updated master HD map also includes filtering out temporary feature changes of the updated master HD map that correspond to: (1) an accident, (2) a road blockage, (3) a pothole, or any combination thereof.

[0094] In some implementations, changes in the structural features of the updated HD map can be determined by evaluating the differences between the updated HD map and the master HD map. Various techniques can be used to determine these differences, such as feature-based comparisons, machine learning, or statistical methods (e.g., determining whether the difference exceeds a predetermined value).

[0095] Components for performing functionality at block 620 may include bus 705, processor 710, wireless communication interface 730, memory 760, and / or other components of UE 105, such as Figure 7 exemplified.

[0096] At box 630, method 600 may include updating the backup HD map by applying one or more structural feature changes to the backup HD map.

[0097] In some implementations, in response to a "significant" map update, the mobile computing system 501 may apply the map update to a backup map. The updated backup map may include one or more structural feature changes to the updated main HD map. Additionally or alternatively, the updated backup map may also include user-preferred routes / new routes. Therefore, the backup map may include up-to-date and accurate data for navigation and / or autonomous driving, and thus enhance the reliability of the HD map.

[0098] Components for performing functionality at block 630 may include bus 705, processor 710, wireless communication interface 730, memory 760, and / or other components of UE 105, such as Figure 7 exemplified.

[0099] At box 640, method 600 may include providing an updated main HD map and an updated backup HD map for navigation.

[0100] In some implementations, providing updated primary HD maps and updated backup HD maps for navigation also includes providing updated primary HD maps and updated backup HD maps for vehicle navigation (e.g., autonomous driving).

[0101] In some implementations, providing an updated main HD map and an updated backup HD map for navigation further includes: (1) determining whether the updated main HD map is corrupted, (2) in response to the updated main HD map being corrupted, using the updated backup HD map for navigation, and (3) in response to the updated main HD map not being corrupted, using the updated main HD map for navigation.

[0102] Components for implementing functionality at frame 640 may include bus 705, processor 710, wireless communication interface 730, memory 760, and / or other components of UE 105, such as Figure 7 exemplified.

[0103] In some implementations, method 600 further includes determining whether updating the primary HD map was successful. In response to an unsuccessful update of the primary HD map, method 600 further includes: (1) determining whether the primary HD map is corrupted, (2) in response to a corrupted primary HD map, using a backup HD map for navigation, and (3) in response to a non-corrupted primary HD map, using the primary HD map for navigation.

[0104] In some implementations, the main HD map is determined to be corrupt based on the following: (1) software error, (2) data error, (3) malicious tampering, (4) malfunction, (5) incompatible map update, (6) data transmission problem, (7) software anomaly, or any combination thereof.

[0105] Figure 7 This is a block diagram of an implementation scheme of a mobile computing system 700, which can be incorporated into a vehicle and, as described above (e.g., with...). Figures 1 to 6 (In association) as described herein, it enables a vehicle to perform the functions of the embodiments described herein. For example, the mobile computing system 700 can perform... Figure 3 , Figure 4 , Figure 5 and Figure 6 One or more functions of the method shown. It should be noted that... Figure 7 This is intended only to provide generalized examples of various components, any or all of which may be utilized as appropriate. It may be noted that in some instances, Figure 7 The illustrated components can be localized as a single physical device and / or distributed among various networked devices that may be located in different geographical locations. Furthermore, as previously noted, the functionality of the UE discussed in the previously described embodiments can be provided by… Figure 7 One or more of the illustrated hardware and / or software components perform.

[0106] Mobile computing system 700 is shown to include hardware elements electrically coupled (or otherwise communicable) via bus 705, which may include vehicle-specific buses such as Controller Area Network (CAN) buses. The hardware elements may include processor 710, which may include, but is not limited to, one or more general-purpose processors (e.g., application processors), one or more special-purpose processors (such as DSP chips, graphics accelerator processors, application-specific integrated circuits (ASICs), etc.), and / or other processing architectures or components. Processor 710 may include one or more processing units, which may be housed in a single integrated circuit (IC) or multiple ICs. Figure 7 As shown, depending on the desired functionality, some implementations may have a separate DSP 720. Wireless communication-based location determination and / or other determinations (discussed below) may be provided in the processor 710 and / or the wireless communication interface 730. The mobile computing system 700 may also include one or more input devices 770, which may include, but are not limited to, one or more keyboards, touchscreens, touchpads, microphones, buttons, dials, and / or switches; and one or more output devices 715, which may include, but are not limited to, one or more displays (e.g., touchscreens), light-emitting diodes (LEDs), and / or speakers.

[0107] Mobile computing system 700 may also include wireless communication interface 730, which may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication devices and / or chipsets (such as Bluetooth).® Devices, such as IEEE 802.11 devices, IEEE 802.15.4 devices, Wi-Fi devices, WiMAX devices, WAN devices, and / or various cellular devices, etc., enable the mobile computing system 700 to communicate with other devices as described in the above embodiments. The wireless communication interface 730 may permit the transmission / reception point (TRP) of the network to transmit (e.g., send and receive) data and signaling via, for example, a cellular base station (e.g., eNB, gNB, ng-eNB, etc.), access point and / or other access node types, and / or other network components, computer systems, and / or any other electronic device communicatively coupled to the TRP as described herein. Communication may be performed via one or more wireless communication antennas 732 that transmit and / or receive wireless signals 734. According to some embodiments, the wireless communication antennas 732 may include multiple discrete antennas, antenna arrays, or any combination thereof. The antennas 732 may be able to use beams (e.g., Tx beams and Rx beams) to transmit and receive wireless signals. Beamforming can be performed using digital and / or analog beamforming techniques with corresponding digital and / or analog circuitry. The wireless communication interface 730 may include such circuitry.

[0108] Depending on the desired functionality, the wireless communication interface 730 may include separate receivers and transmitters, or any combination of transceivers, transmitters, and / or receivers, to communicate with base stations (e.g., ng-eNBs and gNBs) and other terrestrial transceivers (such as wireless devices and access points). The mobile computing system 700 can communicate with various data networks, which may include a variety of network types. For example, a wireless wide area network (WWAN) may be a Code Division Multiple Access (CDMA) network, a Time Division Multiple Access (TDMA) network, a Frequency Division Multiple Access (FDMA) network, an Orthogonal Frequency Division Multiple Access (OFDMA) network, a Single Carrier Frequency Division Multiple Access (SC-FDMA) network, a WiMAX (IEEE 802.16) network, etc. A CDMA network may implement one or more RATs, such as CDMA2000. ® WCDMA, etc. CDMA2000 ® This includes IS-95, IS-2000, and / or IS-856 standards. TDMA networks can implement Global System for Mobile Communications (GSM), Digital Advanced Mobile Telephone System (D-AMPS), or some other Radio Access Technology (RAT). OFDMA networks can employ Long Term Evolution (LTE), Advanced LTE, 5G New Radio (NR), etc. 5G NR, LTE, Advanced LTE, GSM, and WCDMA are described in documents from 3GPP. CDMA2000 ®This is described in documents from an organization called the 3rd Generation Partnership Project 2 (3GPP2). 3GPP and 3GPP2 documents are publicly available. A wireless local area network (WLAN) can also be an IEEE 802.11x network, while a wireless personal area network (WPAN) can be a Bluetooth network, IEEE 802.15x, or some other type of network. The technologies described herein can also be used in any combination of WWAN, WLAN, and / or WPAN.

[0109] The mobile computing system 700 may also include a sensor 740. The sensor 740 may correspond to... Figure 4 The sensor 405 may therefore include radar 741, camera 742, and other sensors. As illustrated, sensor 740 may also include lidar 743, IMU 744, etc. Sensor 740 may also include accelerometers, gyroscopes, magnetometers, altimeters, microphones, proximity sensors, light sensors, barometers, sonar, and / or sensors from vehicle systems (e.g., wheel sensors, speedometers, etc.). As described herein, sensors can be used to obtain information about location and / or movement.

[0110] Implementations of the mobile computing system 700 may also include a GNSS receiver 780 (e.g., corresponding to...). Figure 4 The GNSS receiver 780 (GNSS unit 430) is capable of receiving signals 784 from one or more GNSS satellites using antenna 782 (which may be the same as antenna 732). Positioning based on GNSS signal measurements can be used to supplement and / or incorporate the techniques described herein. The GNSS receiver 780 can extract the positioning of the mobile computing system 700 from GNSS satellites of GNSS systems such as the Global Positioning System (GPS), Galileo, GLONASS, the Quasi-Zenith Satellite System (QZSS) over Japan, the IRNSS over India, the BeiDou Navigation Satellite System (BDS) over China, etc., using conventional techniques. Furthermore, the GNSS receiver 780 can be used with various augmentation systems (e.g., satellite-based augmentation systems (SBAS)) that are associated with or otherwise enabled to be used with one or more global and / or regional navigation satellite systems, such as, for example, the Wide Area Augmentation System (WAAS), the European Geostationary Navigation Coverage Service (EGNOS), the Multifunctional Satellite Augmentation System (MSAS), and the Geographic Augmentation Navigation System (GAGAN).

[0111] It can be pointed out that, although in Figure 7The GNSS receiver 780 is illustrated as various components, but embodiments are not limited thereto. As used herein, the term "GNSS receiver" may include hardware and / or software components configured to acquire GNSS measurements (measurements from GNSS satellites). Thus, in some embodiments, the GNSS receiver may include (as software) a measurement engine executed by one or more processors, such as processor 710, DSP 720, and / or a processor within a wireless communication interface 730 (e.g., in a modem). The GNSS receiver may also optionally include a positioning engine that can use GNSS measurements from the measurement engine to determine the GNSS receiver's location using an extended Kalman filter (EKF), weighted least squares (WLS), a hatch filter, or a particle filter, etc. The positioning engine may also be executed by one or more processors, such as processor 710 or DSP 720.

[0112] The mobile computing system 700 may also include a memory 760 and / or be in communication with that memory. The memory 760 may include, but is not limited to, local and / or network-accessible storage devices, disk drives, drive arrays, optical storage devices, solid-state storage devices such as random access memory (RAM) and / or read-only memory (ROM), which may be programmable and / or flash-updatable. Such storage devices can be configured to implement any suitable data storage, including but not limited to various file systems, database structures, etc.

[0113] The memory 760 of the mobile computing system 700 may also include software elements ( Figure 7 (Not shown in the text) These software elements include operating systems, device drivers, executable libraries, and / or other code (such as one or more applications). These software elements may include computer programs provided by various embodiments and / or may be designed to implement methods provided by other embodiments and / or configure systems provided by other embodiments, as described herein. By way of example only, one or more procedures described with respect to the methods discussed above may be implemented as code and / or instructions in memory 760 that can be executed by mobile computing system 700 (and / or processor 710 or DSP 720 within mobile computing system 700). Then, in some embodiments, such code and / or instructions may be used to configure and / or adapt a general-purpose computer (or other device) to perform one or more operations according to the described methods.

[0114] Figure 8 This is a block diagram of an implementation of a computer system 800, which may be used, wholly or partially, to provide a server or other computing device as described in the embodiments herein (e.g., as per [reference to...]). Figures 1 to 6 The cloud / edge server described. It should be noted that... Figure 8 This is intended only to provide generalized examples of various components, any or all of which may be utilized as appropriate. Therefore, Figure 8 This broadly illustrates how individual system components can be implemented in a relatively separate or relatively more integrated manner. Furthermore, it can be pointed out that... Figure 8 The illustrated components can be localized as a single device and / or distributed among various networked devices that can be located in different geographical locations.

[0115] Computer system 800 is shown as including hardware elements electrically coupled (or otherwise communicable) via bus 805. The hardware elements may include processor 810, which may include, but is not limited to, one or more general-purpose processors, one or more special-purpose processors (such as digital signal processing chips, graphics accelerators, etc.), and / or other processing architectures, configured to perform one or more of the methods described herein. Computer system 800 may also include one or more input devices 815, which may include, but is not limited to, a mouse, keyboard, camera, and / or microphone; and one or more output devices 820, which may include, but is not limited to, display devices and / or printers.

[0116] The computer system 800 may also include one or more non-transitory storage devices 825 (and / or communicate with said one or more non-transitory storage devices), which may include, but are not limited to, local and / or network-accessible storage devices, and / or may include, but are not limited to, disk drives, drive arrays, optical storage devices, solid-state storage devices (such as RAM and / or ROM), which may be programmable and / or flash-updatable, etc. Such storage devices may be configured to implement any suitable data storage, including but not limited to various file systems, database structures, etc. Such data storage may include databases and / or other data structures for storing and managing messages and / or other information to be transmitted via a central hub to one or more devices, as described herein.

[0117] Computer system 800 may also include a communication subsystem 830, which may include wireless communication technologies managed and controlled by wireless communication interface 833, as well as wired technologies (such as Ethernet, coaxial communication, Universal Serial Bus (USB), etc.). Wireless communication interface 833 may include one or more wireless transceivers capable of transmitting and receiving wireless signals 855 (e.g., signals according to 5G NR or LTE) via wireless antenna 850. Therefore, communication subsystem 830 may include modems, network interface cards (wireless or wired), infrared communication devices, wireless communication devices, and / or chipsets, enabling computer system 800 to communicate with any device (including user equipment (UE), base station, and / or other TRP and / or any other electronic device described herein) on any or all of the communication networks described herein. Therefore, communication subsystem 830 can be used to receive and transmit data as described in the embodiments herein.

[0118] In many embodiments, the computer system 800 will also include working memory 835, which may include RAM or ROM devices as described above. Software elements shown to reside within working memory 835 may include operating system 840, device drivers, executable libraries, and / or other code (such as one or more applications 845), which may include computer programs provided by various embodiments and / or may be designed to implement methods provided by other embodiments and / or configure systems provided by other embodiments, as described herein. By way of example only, one or more processes described with respect to the methods discussed above may be implemented as code and / or instructions executable by a computer (and / or a processor within a computer); in one respect, such code and / or instructions may then be used to configure and / or adapt a general-purpose computer (or other device) to perform one or more operations according to the described methods.

[0119] This set of instructions and / or code may be stored on a non-transitory computer-readable storage medium (such as storage device 825 described above). In some cases, the storage medium may be incorporated into a computer system (such as computer system 800). In other embodiments, the storage medium may be separate from the computer system (e.g., a removable medium, such as an optical disc), and / or may be provided in an installation package so that the storage medium can be used to program, configure, and / or adapt a general-purpose computer containing the instructions / code. These instructions may take the form of executable code that can be executed by computer system 800, and / or may take the form of source and / or installable code that, when compiled and / or installed on computer system 800 (e.g., using any of a variety of commonly available compilers, installers, compression / decompression utilities, etc.), takes the form of executable code.

[0120] It will be apparent to those skilled in the art that basic modifications can be made to suit specific requirements. For example, custom hardware can also be used, and / or specific elements can be implemented in hardware, software (including portable software such as applets), or both. Furthermore, connections to other computing devices, such as network input / output devices, can be employed.

[0121] Referring to the accompanying drawings, components that may include memory may include non-transitory machine-readable media. As used herein, the terms "machine-readable media" and "computer-readable media" refer to any storage medium that participates in providing data that enables a machine to operate in a particular manner. In the embodiments provided above, various machine-readable media may be involved in providing instructions / code to a processor and / or other devices for execution. Additionally or alternatively, machine-readable media may be used to store and / or carry such instructions / code. In many specific embodiments, computer-readable media are physical and / or tangible storage media. Such media can take many forms, including but not limited to non-volatile and volatile media. Common forms of computer-readable media include, for example: magnetic and / or optical media, any other physical media with a hole pattern, RAM, programmable ROM (PROM), erasable PROM (EPROM), FLASH-EPROM, any other memory chip or memory cartridge, or any other medium from which a computer can read instructions and / or code.

[0122] The methods, systems, and apparatus discussed herein are examples. Various embodiments may omit, substitute, or add various processes or components as appropriate. For example, features described for some embodiments may be combined in various other embodiments. Different aspects and elements of embodiments may be combined in a similar manner. The various components in the accompanying drawings provided herein may be embodied in hardware and / or software. Moreover, technology is evolving, and therefore many elements are examples that do not limit the scope of this disclosure to those particular examples.

[0123] It has been proven convenient to sometimes refer to such signals as bits, information, values, elements, symbols, characters, variables, items, numbers, numerical symbols, etc., primarily for common use. However, it should be understood that all such terms or similar terms should be associated with appropriate physical quantities and are merely convenient labels. Unless otherwise specifically stated, as is apparent from the discussion above, it should be understood that in this specification, discussions using terms such as “processing,” “calculating,” “operating,” “determining,” “identifying,” “identifying,” “associating,” “measuring,” “executing,” etc., refer to the actions or processes of a specific device, such as a dedicated computer or similar dedicated electronic computing device. Therefore, in the context of this specification, a dedicated computer or similar dedicated electronic computing device is capable of manipulating or transforming signals, generally referred to as physical, electronic, electrical, or magnetic quantities in the memory, registers, or other information storage devices, transmitting devices, or display devices of a dedicated computer or similar dedicated electronic computing device.

[0124] As used herein, the terms “and” and “or” may include a variety of meanings, which are also expected to depend at least in part on the context in which such terms are used. Generally, “or” when used to relate a list, such as A, B, or C, is intended to mean A, B, and C (in the inclusive sense) and A, B, or C (in the exclusive sense). Furthermore, the term “one or more” as used herein may be used to describe any feature, structure, or characteristic in the singular, or may be used to describe some combination of features, structures, or characteristics. However, it should be noted that this is merely an illustrative example, and the subject matter claimed is not limited to this example. Additionally, the term “at least one” when used to relate a list, such as A, B, or C, may be interpreted to mean any combination of A, B, and / or C, such as A, AB, AA, AAB, AABBCCC, etc.

[0125] Several implementations have been described, and various modifications, alternative constructions, and equivalents may be used without departing from the scope of this disclosure. For example, the above elements may be components of a larger system, where other rules may take precedence over the application of various implementations or otherwise modify the application of various implementations. Furthermore, multiple steps may be performed before, during, or after considering the above elements. Accordingly, the above description does not limit the scope of this disclosure.

[0126] Given this description, different implementations may include different combinations of features. Specific implementation examples are described in the following numbered clauses: Clause 1. An example method for enhancing the reliability of high-definition (HD) maps, the method being performed by a user equipment (UE) and comprising: wirelessly receiving map updates via at least one transceiver; updating a primary HD map based on the received map updates; determining one or more structural feature changes of the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and updating the backup HD map by applying the one or more structural feature changes. The method further comprises providing the updated primary HD map and the updated backup HD map for navigation.

[0127] Clause 2. The real-world structural changes described in accordance with Clause 1 include: the addition of new lanes; the construction of underpasses; the construction of overpasses; the construction of new roads; or any combination thereof.

[0128] Clause 3. The method according to Clause 1 or 2, wherein determining the one or more structural feature changes of the updated main HD map further comprises: filtering out temporary feature changes of the updated main HD map, the temporary feature changes corresponding to: accidents; road blockages; potholes; or any combination thereof.

[0129] Clause 4. The method according to any one of Clauses 1 to 3, wherein providing the updated main HD map and the updated backup HD map for navigation further comprises: providing the updated main HD map and the updated backup HD map for vehicle navigation.

[0130] Clause 5. The method according to any one of Clauses 1 to 4, the method further comprising: determining whether the updated main HD map is corrupted; in response to the updated main HD map being corrupted, using the updated backup HD map for navigation; and in response to the updated main HD map not being corrupted, using the updated main HD map for navigation.

[0131] Clause 6. The method according to any one of Clauses 1 to 5, the method further comprising determining whether updating the primary HD map was successful, wherein in response to the failure to update the primary HD map, the method further comprises: determining whether the primary HD map is corrupted; in response to the primary HD map being corrupted, using the backup HD map for navigation; and in response to the primary HD map not being corrupted, using the primary HD map for navigation.

[0132] Clause 7. The method of any one of Clauses 1 to 6 is used to determine whether the main HD map is corrupted based on determining that the main HD map has: software errors; data errors; malicious tampering; malfunctions; incompatible map updates; data transmission problems; software anomalies; or any combination thereof.

[0133] Clause 8. The method according to any one of Clauses 1 to 7, wherein the map update further includes: changes to the best route; changes to route preferences; or any combination thereof.

[0134] Clause 9. An example UE for enhancing the reliability of high-definition (HD) maps, the example UE comprising: one or more transceivers; one or more memories; and one or more processors communicatively coupled to the one or more transceivers and the one or more memories. The one or more processors are configured to: wirelessly receive map updates via the one or more transceivers; update a primary HD map based on the received map updates; determine one or more structural feature changes in the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and update the backup HD map by applying the one or more structural feature changes to the backup HD map. The one or more processors are configured to provide the updated primary HD map and the updated backup HD map for navigation.

[0135] Clause 10. The UE as described in Clause 9, wherein the real-world structural changes include: the addition of new lanes; the construction of underpasses; the construction of overpasses; the construction of new roads; or any combination thereof.

[0136] Clause 11. The UE as described in Clause 9 or 10, wherein, in order to determine the one or more structural feature changes of the updated main HD map, the one or more processors are further configured to: filter out temporary feature changes of the updated main HD map, the temporary feature changes corresponding to: accidents; road blockages; potholes; or any combination thereof.

[0137] Clause 12. The UE according to any one of Clauses 9 to 11, wherein the one or more processors are further configured to: provide the updated primary HD map and the updated backup HD map for vehicle navigation.

[0138] Clause 13. The UE according to any one of Clauses 9 to 12, wherein the one or more processors are further configured to: determine whether the updated primary HD map is corrupted; in response to the updated primary HD map being corrupted, use the updated backup HD map for navigation; and in response to the updated primary HD map not being corrupted, use the updated primary HD map for navigation.

[0139] Clause 14. The UE according to any one of Clauses 9 to 13, wherein the one or more processors are further configured to determine whether updating the primary HD map was successful, wherein in response to an unsuccessful update of the primary HD map, the method further includes: determining whether the primary HD map is corrupted; in response to the primary HD map being corrupted, using the backup HD map for navigation; and in response to the primary HD map not being corrupted, using the primary HD map for navigation.

[0140] Clause 15. The UE according to any one of Clauses 9 to 14, wherein, in order to determine whether the primary HD map is corrupted, the one or more processors are configured to determine the following in the primary HD map: software error; data error; malicious tampering; malfunction; incompatible map update; data transmission problem; software anomaly; or any combination thereof.

[0141] Clause 16. The UE pursuant to any one of Clauses 9 to 15, wherein the map update comprises: a change in the best route; a change in route preference; or any combination thereof.

[0142] Clause 17. An example apparatus for enhancing the reliability of high-definition (HD) maps, the apparatus comprising: components for wirelessly receiving map updates via at least one transceiver; components for updating a primary HD map based on the received map updates; components for determining one or more structural feature changes of the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and components for updating the backup HD map by applying the one or more structural feature changes to the backup HD map. The apparatus further comprises components for providing the updated primary HD map and the updated backup HD map for navigation.

[0143] Clause 18. The apparatus described in Clause 17, wherein the real-world structural alteration includes: the addition of a new lane; the construction of an underpass; the construction of a skybridge; the construction of a new road; or any combination thereof.

[0144] Clause 19. The apparatus according to Clause 17 or 18, wherein the component for determining the one or more structural feature changes of the updated master HD map further comprises: a component for filtering out temporary feature changes of the updated master HD map, the temporary feature changes corresponding to: accidents; road blockages; potholes; or any combination thereof.

[0145] Clause 20. The apparatus according to any one of Clauses 17 to 19, wherein the component for providing the updated main HD map and the updated backup HD map for navigation further comprises: a component for providing the updated main HD map and the updated backup HD map for vehicle navigation.

[0146] Clause 21. The apparatus according to any one of Clauses 17 to 20, wherein the apparatus further comprises: components for determining whether the updated master HD map is corrupted; components for using the updated backup HD map for navigation in response to the updated master HD map being corrupted; and components for using the updated master HD map for navigation in response to the updated master HD map not being corrupted.

[0147] Clause 22. The apparatus according to any one of Clauses 17 to 21, the apparatus further comprising components for determining whether updating the primary HD map was successful, wherein in response to an unsuccessful update of the primary HD map, the apparatus further comprises: components for determining whether the primary HD map is corrupted; components for using the backup HD map for navigation in response to the primary HD map being corrupted; and components for using the primary HD map for navigation in response to the primary HD map not being corrupted.

[0148] Clause 23. The apparatus according to any one of Clauses 17 to 22, wherein the component for determining whether the main HD map is corrupted includes a component for determining the following in the main HD map: software error; data error; malicious tampering; malfunction; incompatible map update; data transmission problem; software anomaly; or any combination thereof.

[0149] Clause 24. The apparatus according to any one of Clauses 17 to 23, wherein the map update comprises: a change in the optimal route; a change in route preference; or any combination thereof.

[0150] Clause 25. An example non-transitory computer-readable medium storing instructions for enhancing the reliability of high-definition (HD) maps, the instructions comprising code for: wirelessly receiving map updates via at least one transceiver; updating a primary HD map based on the received map updates; determining one or more structural feature changes in the updated primary HD map based on differences between the updated primary HD map and the primary HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the primary HD map; and updating the backup HD map by applying the one or more structural feature changes. The instructions also include code for providing the updated primary HD map and the updated backup HD map for navigation.

[0151] Clause 26. The non-transitory computer-readable medium as described in Clause 25, wherein the real-world structural changes include: the addition of new lanes; the construction of underpasses; the construction of overpasses; the construction of new roads; or any combination thereof.

[0152] Clause 27. The non-transitory computer-readable medium pursuant to Clause 25 or 26, wherein the code for determining the one or more structural feature changes of the updated master HD map further includes code for filtering out temporary feature changes of the updated master HD map that correspond to: accidents; road blockages; potholes; or any combination thereof.

[0153] Clause 28. A non-transitory computer-readable medium according to any one of Clauses 25 to 27, wherein the code for determining the one or more structural feature changes of the updated master HD map further includes code for providing the updated master HD map and the updated backup HD map for vehicle navigation.

[0154] Clause 29. A nontransitory computer-readable medium according to any one of Clauses 25 to 28, wherein the instructions further include code for: determining whether the updated primary HD map is corrupted; in response to the updated primary HD map being corrupted, using the updated backup HD map for navigation; and in response to the updated primary HD map not being corrupted, using the updated primary HD map for navigation.

[0155] Clause 30. A nontransitory computer-readable medium according to any one of Clauses 25 to 29, wherein the instructions further include code for determining whether updating the primary HD map was successful, wherein in response to an unsuccessful update of the primary HD map, the instructions further include code for: determining whether the primary HD map is corrupted; in response to the primary HD map being corrupted, using the backup HD map for navigation; and in response to the primary HD map not being corrupted, using the primary HD map for navigation.

Claims

1. A method for enhancing the reliability of high-definition (HD) maps, the method being performed by user equipment (UE) and comprising: Map updates are received wirelessly via at least one transceiver; Update the main HD map based on the received map update; Based on the differences between the updated main HD map and the main HD map, one or more structural feature changes in the updated main HD map are determined, and the one or more structural feature changes correspond to real-world structural changes represented in the main HD map; The backup HD map is updated by applying the changes to one or more structural features. as well as The updated main HD map and the updated backup HD map are provided for navigation.

2. The method according to claim 1, wherein the real-world structural changes include: New lanes added; Construction of underground passages; Construction of the overpass; New road construction; or Any combination of them.

3. The method of claim 2, wherein determining the one or more structural feature changes of the updated main HD map further comprises: Filter out temporary feature changes in the updated main HD map, the temporary feature changes corresponding to: ACCIDENT; Road congestion; Potholes; or Any combination of them.

4. The method of claim 1, wherein providing the updated main HD map and the updated backup HD map for navigation further comprises: The updated main HD map and the updated backup HD map are provided for vehicle navigation.

5. The method according to claim 1, further comprising: Determine whether the updated main HD map is corrupted; In response to the corruption of the updated main HD map, the updated backup HD map is used for navigation; as well as In response to the fact that the updated main HD map is not corrupted, the updated main HD map is used for navigation.

6. The method of claim 1, further comprising determining whether updating the primary HD map was successful, wherein in response to an unsuccessful update of the primary HD map, the method further comprises: Determine whether the main HD map is corrupted; In response to the main HD map being corrupted, the backup HD map is used for navigation; as well as In response to the fact that the main HD map is not corrupted, the main HD map is used for navigation.

7. The method of claim 6, wherein determining whether the primary HD map is corrupted is based on determining in the primary HD map: Software error; Data error; Malicious alteration; Fault; Incompatible map updates; Data transmission issues; Software malfunction; or Any combination of them.

8. The method of claim 1, wherein the map update comprises: Changes in the optimal route; Changes in route preferences; or Any combination of them.

9. A user equipment (UE) for enhancing the reliability of high-definition (HD) maps, the user equipment (UE) comprising: One or more transceivers; One or more memory units; and One or more processors, said one or more processors being communicatively coupled to said one or more transceivers and said one or more memories, said one or more processors being configured to: Map updates are received wirelessly via the one or more transceivers; Update the main HD map based on the received map updates; Based on the differences between the updated main HD map and the main HD map, one or more structural feature changes in the updated main HD map are determined, and the one or more structural feature changes correspond to real-world structural changes represented in the main HD map; The backup HD map is updated by applying the changes to one or more structural features. as well as The updated main HD map and the updated backup HD map are provided for navigation.

10. The user equipment according to claim 9, wherein the real-world structural changes include: New lanes added; Construction of underground passages; Construction of the overpass; New road construction; or Any combination of them.

11. The user equipment of claim 10, wherein, in order to determine the one or more structural feature changes of the updated primary HD map, the one or more processors are further configured to: Filter out temporary feature changes in the updated main HD map, the temporary feature changes corresponding to: ACCIDENT; Road congestion; Potholes; or Any combination of them.

12. The user equipment of claim 9, wherein, in order to provide the updated primary HD map and the updated backup HD map for navigation, the one or more processors are further configured to: The updated main HD map and the updated backup HD map are provided for vehicle navigation.

13. The user equipment of claim 9, wherein the one or more processors are further configured to: Determine whether the updated main HD map is corrupted; In response to the corruption of the updated primary HD map, the updated backup HD map is used for navigation; and In response to the fact that the updated main HD map is not corrupted, the updated main HD map is used for navigation.

14. The user equipment of claim 9, wherein the one or more processors are further configured to determine whether updating the primary HD map was successful, wherein in response to an unsuccessful update of the primary HD map, the one or more processors are further configured to: Determine whether the main HD map is corrupted; In response to the corruption of the primary HD map, the backup HD map is used for navigation; and In response to the fact that the main HD map is not corrupted, the main HD map is used for navigation.

15. The user equipment of claim 14, wherein, in order to determine whether the primary HD map is corrupted, the one or more processors are configured to determine in the primary HD map: Software error; Data error; Malicious alteration; Fault; Incompatible map updates; Data transmission issues; Software malfunction; or Any combination of them.

16. The user equipment of claim 9, wherein the map update comprises: Changes in the optimal route; Changes in route preferences; or Any combination of them.

17. An apparatus for enhancing the reliability of high-definition (HD) maps, the apparatus comprising: A component for wirelessly receiving map updates via at least one transceiver; A component used to apply map updates to the main HD map based on received map updates; A component for determining one or more structural feature changes in the updated main HD map based on the differences between the updated main HD map and the main HD map, the one or more structural feature changes corresponding to real-world structural changes represented in the main HD map; A component for updating the backup HD map by applying the changes in one or more structural features to the backup HD map; and A component used to provide the updated main HD map and the updated backup HD map for navigation.

18. The apparatus of claim 17, wherein the real-world structural changes include: New lanes added; Construction of underground passages; Construction of the overpass; New road construction; or Any combination of them.

19. The apparatus of claim 18, wherein the component for determining the one or more structural feature changes of the updated master HD map further comprises: A component for filtering out temporary feature changes in the updated main HD map, the temporary feature changes corresponding to: ACCIDENT; Road congestion; Potholes; or Any combination of them.

20. The apparatus of claim 17, wherein the apparatus further comprises: A component used to provide the updated main HD map and the updated backup HD map for vehicle navigation.

21. The apparatus of claim 17, wherein the apparatus further comprises: Components used to determine whether the updated main HD map is corrupted; In response to the corruption of the updated main HD map, a component is used to use the updated backup HD map for navigation; and In response to the fact that the updated main HD map is not corrupted, a component for using the updated main HD map for navigation.

22. The apparatus of claim 17, wherein the apparatus further comprises a component for determining whether updating the primary HD map was successful, wherein in response to an unsuccessful update of the primary HD map, the apparatus further comprises: Components used to determine whether the main HD map is damaged; In response to the main HD map being corrupted, a component for using the backup HD map for navigation; and In response to the main HD map not being corrupted, a component for using the main HD map for navigation.

23. The apparatus of claim 22, wherein the component for determining whether the main HD map is damaged includes a component for determining the following in the main HD map: Software error; Data error; Malicious alteration; Fault; Incompatible map updates; Data transmission issues; Software malfunction; or Any combination of them.

24. The apparatus of claim 17, wherein the map update comprises: Changes in the optimal route; Changes in route preferences; or Any combination of them.

25. A non-transitory computer-readable medium storing instructions for enhancing the reliability of high-definition (HD) maps, the instructions comprising code for: Map updates are received wirelessly via at least one transceiver; Update the main HD map based on the received map updates; Based on the differences between the updated main HD map and the main HD map, one or more structural feature changes in the updated main HD map are determined, and the one or more structural feature changes correspond to real-world structural changes represented in the main HD map; The backup HD map is updated by applying the changes to one or more structural features. as well as The updated main HD map and the updated backup HD map are provided for navigation.

26. The computer-readable medium of claim 25, wherein the real-world structural changes include: New lanes added; Construction of underground passages; Construction of the overpass; New road construction; or Any combination of them.

27. The computer-readable medium of claim 26, wherein the code for determining the one or more structural feature changes of the updated master HD map further comprises code for: Filter out temporary feature changes in the updated main HD map, the temporary feature changes corresponding to: ACCIDENT; Road congestion; Potholes; or Any combination of them.

28. The computer-readable medium of claim 25, wherein the code for determining the one or more structural feature changes of the updated master HD map further comprises code for: The updated main HD map and the updated backup HD map are provided for vehicle navigation.

29. The computer-readable medium of claim 25, wherein the instructions further include code for: Determine whether the updated main HD map is corrupted; In response to the corruption of the updated primary HD map, the updated backup HD map is used for navigation; and In response to the fact that the updated main HD map is not corrupted, the updated main HD map is used for navigation.

30. The computer-readable medium of claim 25, wherein the instructions further include code for determining whether updating the main HD map was successful, wherein in response to an unsuccessful update of the main HD map, the instructions further include code for: Determine whether the main HD map is corrupted; In response to the corruption of the primary HD map, the backup HD map is used for navigation; and In response to the fact that the main HD map is not corrupted, the main HD map is used for navigation.

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