Encoded road striping for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-10754348-B2
Application number	US-201715472076-A
Country	US
Kind code	B2
Filing date	Mar 28, 2017
Priority date	Mar 28, 2017
Publication date	Aug 25, 2020
Grant date	Aug 25, 2020

Abstract

An autonomous vehicle (AV) can process a live sensor view to autonomously operate acceleration, braking, and steering systems of the AV along a given route. While traveling along the given route, the AV can identify an encoded road stripe in the live sensor view, and decode the encoded road stripe to determine location data corresponding to the encoded road stripe.

First claim

What is claimed is:

1. An autonomous vehicle (AV) comprising:
acceleration, braking, and steering systems;
a sensor suite generating live sensor view of a surrounding environment of the AV;
a location-based sensor to dynamically receive a location signal to determine a current location of the AV for the control system;
a database storing a set of localization maps for a given region throughout which the AV operates and a plurality of code logs, wherein each respective code log of the plurality of code logs matches a respective value set corresponding to a respective encoded road stripe to location data indicative of a respective location of the respective encoded road stripe; and
a control system comprising:
one or more processors; and
one or more tangible, non-transitory computer readable media comprising instructions that when executed by the one or more processors cause the control system to perform operations, the operations comprising:
processing the live sensor view to autonomously operate the acceleration, braking, and steering systems of the AV along a given route;
identifying an encoded road stripe in the live sensor view; and
decoding the encoded road stripe to determine a value set corresponding to the encoded road stripe; and
determining location data corresponding to the encoded road stripe based on at least one of the plurality of code logs, wherein the control system is triggered to identify the encoded road stripe and decode the encoded road stripe in response to the location-based sensor being unable to receive the location signal to determine the current location of the AV.

2. The AV of claim 1 , wherein the location-based sensor being unable to receive the location signal corresponds to the AV entering a tunnel.

3. The AV of claim 2 , wherein the location data corresponding to the road stripe identifies a relative location of the AV within the tunnel.

4. The AV of claim 1 , wherein the encoded road stripe comprises a set of sub-stripes each having a given length, and wherein the location data corresponding to the encoded road stripe is encoded based on the given length of each of the set of sub-stripes.

5. The AV of claim 4 , wherein the control system reads the set of sub-stripes from a specified camera of the sensor suite in order to decode the encoded road stripe.

6. The AV of claim 5 , wherein the control system performs super-resolution imaging on a set of frames from the specified camera that include the road stripe to read the set of sub-stripes.

7. The AV of claim 1 ,
wherein the operations further comprise:
performing localization operations using respective localization maps of the set of localization maps to dynamically determine a current location of the AV.

8. The AV of claim 7 , wherein the operations further comprise:
accessing a current localization map of a current road segment;
identifying a lack of unique location markers in the current localization map that otherwise enable the control system to determine the current location of the AV; and
triggering the control system to identify the encoded road stripe and decode the encoded road stripe based on the lack of unique location markers.

Assignees

• Uatc Llc

Inventors

• Mcclendon Brian

Classifications

• G01S19/48

  by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G06V30/224

  of printed characters having additional code marks or containing code marks · CPC title

• E01C23/222

  specially adapted for automatic spraying of interrupted, individual or variable markings · CPC title

• G08G1/09623

  Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence) · CPC title