Crowdsourced detection, identification and sharing of hazardous road objects in HD maps

Patent metadata

Field	Value
Publication number	US-11113959-B2
Application number	US-201816235694-A
Country	US
Kind code	B2
Filing date	Dec 28, 2018
Priority date	Dec 28, 2018
Publication date	Sep 7, 2021
Grant date	Sep 7, 2021

Abstract

Systems, apparatuses and methods may provide for vehicle technology that detects one or more differences between a crowdsourced map of an ambient environment and a real-time volumetric map of the ambient environment and sends a first message via a vehicle-to-vehicle (V2V) link, wherein the difference(s) are represented in the first message at a first resolution. Additionally, the vehicle technology sends a second message via a vehicle-to-infrastructure (V2I) link, wherein the difference(s) are represented in the second message at a second resolution, and wherein the first resolution is less than the second resolution. Moreover, server technology may integrate a first octree representation and a second octree representation into a dynamic layer associated with the crowdsourced map.

First claim

We claim:

1. A semiconductor apparatus comprising:
one or more substrates; and
logic coupled to the one or more substrates, wherein the logic is implemented at least partly in configurable logic or fixed-functionality hardware logic, the logic coupled to the one or more substrates to:
detect one or more differences between a crowdsourced map of an ambient environment and a real-time volumetric map of the ambient environment;
send a first message via a vehicle-to-vehicle link, wherein the one or more differences are represented in the first message at a first resolution; and
send a second message via a vehicle-to-infrastructure link, wherein the one or more differences are represented in the second message at a second resolution, and wherein the first resolution is less than the second resolution.

2. The semiconductor apparatus of claim 1 , wherein the one or more differences are represented in the first message and the second message as an octree.

3. The semiconductor apparatus of claim 1 , wherein the second message further includes appearance sensor data.

4. The semiconductor apparatus of claim 1 , wherein the logic coupled to the one or more substrates is to classify the one or more differences as one or more objects based on size and temporal existence.

5. The semiconductor apparatus of claim 4 , wherein the first message and the second message are dedicated to objects exceeding a size threshold and a temporal existence threshold.

6. The semiconductor apparatus of claim 1 , wherein the logic coupled to the one or more substrates is to:
initiate a timer in response to detection of the one or more differences;
cancel the timer if a redundant volumetric representation is received via the vehicle-to-vehicle link prior to expiration of the timer, wherein the first message is sent in response to an expiration of the timer if the redundant volumetric representation is not received via the vehicle-to-vehicle link prior to expiration of the timer; and
generate a consensus decision with regard to the one or more differences.

7. The semiconductor apparatus of claim 6 , wherein the timer is initiated to a value that is inversely proportional to a confidence score associated with the detection of the one or more differences.

8. At least one non-transitory computer readable storage medium comprising a set of instructions, which when executed by a vehicle, cause the vehicle to:
detect one or more differences between a crowdsourced map of an ambient environment and a real-time volumetric map of the ambient environment;
send a first message via a vehicle-to-vehicle link, wherein the one or more differences are represented in the first message at a first resolution; and
send a second message via a vehicle-to-infrastructure link, wherein the one or more differences are represented in the second message at a second resolution, and wherein the first resolution is less than the second resolution.

9. The at least one non-transitory computer readable storage medium of claim 8 , wherein the one or more differences are represented in the first message and the second message as an octree.

10. The at least one non-transitory computer readable storage medium of claim 8 , wherein the second message further includes appearance sensor data.

11. The at least one non-transitory computer readable storage medium of claim 8 , wherein the instructions, when executed, cause the vehicle to classify the one or more differences as one or more objects based on size and temporal existence.

12. The at least one non-transitory computer readable storage medium of claim 11 , wherein the first message and the second message are dedicated to objects exceeding a size threshold and a temporal existence threshold.

13. The at least one non-transitory computer readable storage medium of claim 8 , wherein the instructions, when executed, cause the vehicle to:
initiate a timer in response to detection of the one or more differences;
cancel the timer if a redundant volumetric representation is received via the vehicle-to-vehicle link prior to expiration of the timer, wherein the first message is sent in response to an expiration of the timer if the redundant volumetric representation is not received via the vehicle-to-vehicle link prior to expiration of the timer; and
generate a consensus decision with regard to the one or more differences.

14. The at least one non-transitory computer readable storage medium of claim 13 , wherein the timer is initiated to a value that is inversely proportional to a confidence score associated with the detection of the one or more differences.

15. A semiconductor apparatus comprising:
one or more substrates; and
logic coupled to the one or more substrates, wherein the logic is implemented at least partly in configurable logic or fixed-functionality hardware logic, the logic coupled to the one or more substrates to:
receive a first message from a first vehicle, wherein the first message includes a first octree representation, from a first vantage point, of one or more differences between a crowdsourced map of an environment and a first real-time volumetric map of the environment;
receive a second message from a second vehicle, wherein the second message includes a second octree representation of the one or more differences from a second vantage point; and
integrate the first octree representation and the second octree representation into a dynamic layer associated with the crowdsourced map.

16. The semiconductor apparatus of claim 15 , wherein the logic coupled to the one or more substrates is to:
identify a first set of voxels corresponding to the first octree representation;
identify a second set of voxels corresponding to the second octree representation; and
generate a Gaussian density distribution based on the first set of voxels and the second set of voxels.

17. The semiconductor apparatus of claim 16 , wherein the logic coupled to the one or more substrates is to identify one or more fuse object regions based on the Gaussian density distribution.

18. The semiconductor apparatus of claim 17 , wherein the logic coupled to the one or more substrates is to add one or more safety margin regions around the one or more fuse object regions.

19. The semiconductor apparatus of claim 15 , wherein the logic coupled to the one or more substrates is to send the dynamic layer to the first vehicle and the second vehicle.

20. At least one non-transitory computer readable storage medium comprising a set of instructions, which when executed by a computing system, cause the computing system to:
receive a first message from a first vehicle, wherein the first message includes a first octree representation, from a first vantage point, of one or more differences between a crowdsourced map of an environment and a first real-time volumetric map of the environment;
receive a second message from a second vehicle, wherein the second message includes a second octree representation of the one or more differences from a second vantage point; and
integrate the first octree representation and the second octree representation into a dynamic layer associated with the crowdsourced map.

21. The at least one non-transitory computer readable storage medium of claim 20 , wherein the instructions, when executed, cause the computing system to:
identify a first set of voxels corresponding to the first octree representation;
identify a second set of voxels corresponding to the second octree representation; and
generate a Ga

Assignees

• Alam S M Iftekharul
• Gonzalez Aguirre David I
• Sharma Sridhar
• Sivanesan Kathiravetpillai
• Alvarez Ignacio
• Intel Corp

Inventors

• Alam S M Iftekharul
• Gonzalez Aguirre David I
• Sharma Sridhar
• Sivanesan Kathiravetpillai
• Alvarez Ignacio

Classifications

• G01C21/3878

  Hierarchical structures, e.g. layering · CPC title

• G01C21/3841

  Data obtained from two or more sources, e.g. probe vehicles · CPC title

• H04W4/40 Primary

  for vehicles, e.g. vehicle-to-pedestrians [V2P] · CPC title

• G08G1/012

  from other sources than vehicle or roadside beacons, e.g. mobile networks · CPC title

• H04W4/06

  Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services · CPC title