Updating high definition maps based on age of maps

Patent metadata

Field	Value
Publication number	US-11593344-B2
Application number	US-202016918672-A
Country	US
Kind code	B2
Filing date	Jul 1, 2020
Priority date	Jul 2, 2019
Publication date	Feb 28, 2023
Grant date	Feb 28, 2023

Abstract

A computer-implemented method may include monitoring an age of a tile of a map, where the map includes multiple tiles including the tile. The method may also include, based on the age exceeding a threshold age, determining that the tile of the map is to be updated, and receiving a location indicator from a vehicle. The method may additionally include transmitting an update message to a vehicle traversing a track within the tile as indicated by the location indicator, where the update message includes instructions to cause the vehicle to gather and submit sensor data to a computing system. The method may also include receiving the sensor data from the vehicle, and updating the tile of the map based on the received sensor data.

First claim

What is claimed is:

1. A computer-implemented method comprising:
subdividing, from a map, at least one tile of a plurality of tiles of the map based at least on a threshold frequency of sensor-equipped vehicles traversing an area that corresponds to the at least one tile being satisfied;
monitoring an age of the at least one tile of the map;
based at least on the age exceeding a threshold age, determining that the at least one tile is to be updated; and
updating the at least one tile based at least on sensor data received from a vehicle traversing the area that corresponds to the at least one tile.

2. The method of claim 1 , further comprising updating the age of the tile to be a time associated with one or more of: generation of the sensor data by the vehicle or reception of the sensor data.

3. The method of claim 1 , further comprising subdividing the map to identify the tile, the subdividing including subdividing the map into smaller regions until the threshold frequency is satisfied.

4. The method of claim 1 , wherein the tile is representative of a two-dimensional region of the map and includes:
a corresponding identifier, and
a set of data associated therewith, the set of data including the age of the tile.

5. The method of claim 4 , wherein the set of data further includes a relative altitude, the relative altitude including a numerical value representative of an altitude above or below ground level, the ground level being based at least on a base altitude corresponding to a local sector of the map that includes the tile and one or more other tiles of the plurality of tiles.

6. The method of claim 4 , wherein the set of data further includes at least one of:
a quantized level,
a timestamp of sensor data received from the vehicle and used to update the tile,
one or more track identifiers respectively associated with one or more tracks used to build the tile, or
one or more headings that respectively correspond to the one or more tracks used to build the tile, the one or more headings indicating respective directions of travel corresponding to the one or more tracks.

7. The method of claim 1 , further comprising presenting a visual display of the tile plurality of tiles and a visual indicator of the age of the tile.

8. The method of claim 1 , wherein the map includes multiple versions of map data and the sensor data received from the vehicle includes an annotation of which version of the multiple versions of map data the vehicle uses.

9. The method of claim 1 , further comprising:
receiving a location indicator from the vehicle, wherein the location indicator comprises one or more of:
one or more lane element identifiers respectively corresponding to one or more lanes along which the vehicle traveled, or

a set of driven coordinates along which the vehicle traveled;
transmitting, to the vehicle in response to the location indicator indicating that the vehicle is traversing the area that corresponds to the tile, an update message including instructions to cause

the vehicle to gather and submit sensor data to a computing system; and
receiving the sensor data based at least on the vehicle receiving the update message.

10. The method of claim 9 , wherein the set of driven coordinates includes a downsampling of one or more driven coordinates of the set of driven coordinates that correspond to the area corresponding to the tile.

11. The method of claim 1 , wherein the updating the tile is further based at least on additional vehicle sensor data, the additional vehicle sensor data including additional sensor data from other vehicles traversing the area corresponding to the tile, at least some of the additional vehicle sensor data being associated with travel within the area corresponding to the tile but travelling in an opposite direction from the vehicle.

12. The method of claim 1 ,
wherein the sensor data is received from the vehicle based at least on the tile corresponding to GPS coordinates associated with the vehicle.

13. The method of claim 12 , further comprising:
determining coverage of one or more sensors of the vehicle that capture the sensor data, wherein the coverage is determined based at least on the GPS coordinates associated with from the vehicle, and wherein the sensor data is received from the vehicle based at least on the GPS coordinates indicating a threshold amount of coverage of the one or more sensors.

14. The method of claim 1 , wherein the monitoring the age of the tile includes monitoring a lane element age of a lane element corresponding to a track traversed by the vehicle in the area.

15. A processor comprising:
processing circuitry to cause performance of operations comprising:
monitoring an age of a tile of a map, the map including a plurality of tiles including the tile;
based at least on the age exceeding a threshold age, determining that the tile is to be updated, the tile being subdivided from the map based at least on a threshold frequency of sensor-equipped vehicles traversing an area that corresponds to the tile being satisfied;
receiving a location indicator from a vehicle;
transmitting an update message to the vehicle in response to the vehicle traversing a track within an area that corresponds to the tile as indicated by the location indicator and in response to a determination that coverage of sensor data obtained by a respective scan of one or more sensors disposed on the vehicle covers a geographic space that is at least as large as the area that corresponds to the tile, the update message including instructions to cause the vehicle to gather and submit sensor data to a computing system;
receiving the sensor data from the vehicle; and
updating the tile based at least on the received sensor data.

16. The processor of claim 15 , wherein the operations further comprise updating the age of the tile to be a time associated with one or more of: generation of the sensor data by the vehicle or reception of the sensor data.

17. The processor of claim 15 , wherein the operations further comprise subdividing the map into smaller regions until a threshold vehicle coverage is satisfied.

18. The processor of claim 15 , wherein each of the plurality of tiles is representative of a two-dimensional region of the map and includes a corresponding identifier and a set of data associated with the tile, the set of data including the age of the tile.

19. The processor of claim 18 , wherein the set of data further includes a relative altitude, the relative altitude including a numerical value representative of an altitude above or below ground level, the ground level being based at least on a base altitude corresponding to a local sector of the map that includes the tile and one or more other tiles of the plurality of tiles.

20. The processor of claim 18 , wherein the set of data further includes at least one of:
a quantized level,
a timestamp of sensor data received from the vehicle and used to update the tile,
one or more track identifiers respectively associated with one or more tracks used to build the tile, or
one or more headings that respectively correspond to the one or more tracks used to build the tile, the one or more headings indicating respective directions of travel corresponding to the one or more tracks.

21. The processor of claim 15 , wherein the operations further comprise presenting a visual display of the tile and a visual indicator of the age of the tile.

22. The processor of claim 15 , wherei

Assignees

• Nvidia Corp

Inventors

• Bailly François Joseph
• Yang Kevin

Classifications

• G01C21/32

  Structuring or formatting of map data · CPC title

• G06F16/2477

  Temporal data queries · CPC title

• G06F16/29 Primary

  Geographical information databases · CPC title

• G01C21/3848

  Data obtained from both position sensors and additional sensors · CPC title

• G01C21/3859

  Differential updating map data · CPC title