Method, apparatus, and computer program product for building a high definition map from crowd sourced data

Patent metadata

Field	Value
Publication number	US-11194847-B2
Application number	US-201816229364-A
Country	US
Kind code	B2
Filing date	Dec 21, 2018
Priority date	Dec 21, 2018
Publication date	Dec 7, 2021
Grant date	Dec 7, 2021

Abstract

A method, apparatus and computer program product are provided for constructing a high definition map from crowd sourced data using semantic attributes to bootstrap map construction. Methods may include: receiving first sensor data from a first vehicle having traversed a first path along a first lane of a first road segment; identifying features from the first sensor data of the first road segment; receiving second sensor data from a second vehicle having traversed a second path along a second lane of the first road segment; identifying features from the second sensor data of the first road segment; aligning the identified features from the second sensor data with the identified features from the first sensor data of the first road segment; and combining the identified features from the first sensor data and the second sensor data based, at least in part, on the confidence of the respective sensor data.

First claim

That which is claimed:

1. An apparatus comprising at least one processor and at least one non-transitory memory including computer program code instructions, the computer program code instructions configured to, when executed, cause the apparatus to at least:
receive first sensor data from a first vehicle having traversed a first path along a first lane of a first road segment;
identify features from the first sensor data of the first road segment, wherein a confidence of the first sensor data is inversely proportional to a distance from the first path;
receive second sensor data from a second vehicle having traversed a second path along a second lane of the first road segment;
identify features from the second sensor data of the first road segment, wherein a confidence of the second sensor data is inversely proportional to a distance from the second path;
align the identified features from the second sensor data of the first road segment with the identified features from the first sensor data of the first road segment;
combine the identified features from the first sensor data and the second sensor data based, at least in part, on the confidence of the respective sensor data; and
generate a map of the road segment based on the combined identified features.

2. The apparatus of claim 1 , wherein the apparatus is further caused to:
facilitate autonomous vehicle control along the road segment based, at least in part, on the generated map of the road segment.

3. The apparatus of claim 1 , wherein the features of the first sensor data are classified into at least one of a plurality of attribution categories, wherein the features of the second sensor data are classified into at least one of the plurality of attribution categories, wherein causing the apparatus to align the identified features from the second sensor data with the identified features from the first sensor data comprises causing the apparatus to:
align identified features of the second sensor data of a first attribution category with identified features of the first sensor data of the first attribution category.

4. The apparatus of claim 1 , wherein the confidence of the first sensor data is further defined by one or more properties of a sensor producing the first sensor data.

5. The apparatus of claim 1 , wherein the apparatus is further caused to refine the combined identified features from the first sensor data and the second sensor data using a maximum likelihood estimator.

6. The apparatus of claim 5 , wherein missing data from the combined identified features from the first sensor data and the second sensor data is replaced with data interpreted in context of the first sensor data and the second sensor data.

7. The apparatus of claim 5 , wherein the maximum likelihood estimator determines a location of the combined identified features.

8. A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code portions stored therein, the computer-executable program code portions comprising program code instructions configured to:
receive first sensor data from a first vehicle having traversed a first path along a first lane of a first road segment;
identify features from the first sensor data of the first road segment, wherein a confidence of the first sensor data is inversely proportional to a distance from the first path;
receive second sensor data from a second vehicle having traversed a second path along a second lane of the first road segment;
identify features from the second sensor data of the first road segment, wherein a confidence of the second sensor data is inversely proportional to a distance from the second path;
align the identified features from the second sensor data of the first road segment with the identified features from the first sensor data of the first road segment;
combine the identified features from the first sensor data and the second sensor data based, at least in part, on the confidence of the respective sensor data; and
generate a map of the road segment based on the combined identified features.

9. The computer program product of claim 8 , further comprising program code instructions to:
facilitate autonomous vehicle control along the road segment based, at least in part, on the generated map of the road segment.

10. The computer program product of claim 8 , wherein the features of the first sensor data are classified into at least one of a plurality of attribution categories, wherein the features of the second sensor data are classified into at least one of the plurality of attribution categories, wherein the program code instructions to align the identified features from the second sensor data with the identified features from the first sensor data comprise program code instructions to:
align identified features of the second sensor data of a first attribution category with identified features of the first sensor data of the first attribution category.

11. The computer program product of claim 8 , wherein the confidence of the first sensor data is further defined by one or more properties of a sensor producing the first sensor data.

12. The computer program product of claim 8 , further comprising program code instructions to refine the combined identified features from the first sensor data and the second sensor data using a maximum likelihood estimator.

13. The computer program product of claim 12 , wherein missing data from the combined identified features from the first sensor data and the second sensor data is replaced with data interpreted in context of the first sensor data and the second sensor data.

14. The computer program product of claim 12 , wherein the maximum likelihood estimator determines a location of the combined identified features.

15. A method comprising:
receiving first sensor data from a first vehicle having traversed a first path along a first lane of a first road segment;
identifying features from the first sensor data of the first road segment, wherein a confidence of the first sensor data is inversely proportional to a distance from the first path;
receiving second sensor data from a second vehicle having traversed a second path along a second lane of the first road segment;
identifying features from the second sensor data of the first road segment, wherein a confidence of the second sensor data is inversely proportional to a distance from the second path;
aligning the identified features from the second sensor data of the first road segment with the identified features from the first sensor data of the first road segment;
combining the identified features from the first sensor data and the second sensor data based, at least in part, on the confidence of the respective sensor data; and
generating a map of the road segment based on the combined identified features.

16. The method of claim 15 , further comprising:
facilitating autonomous vehicle control along the road segment based, at least in part, on the generated map of the road segment.

17. The method of claim 15 , wherein the features of the first sensor data are classified into at least one of a plurality of attribution categories, wherein the features of the second sensor data are classified into at least one of the plurality of attribution categories, wherein aligning the identified features from the second sensor data with the identified features from the first sensor data comprises:
aligning identified features of the second sensor data of a first attribution category with identified features of th

Assignees

• Here Global Bv

Inventors

• Viswanathan Anirudh

Classifications

• G01C21/3822 Primary

  Road feature data, e.g. slope data · CPC title

• G01C21/3841

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

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06F16/29 Primary

  Geographical information databases · CPC title