Systems and methods for projecting a three-dimensional (3D) surface to a two-dimensional (2D) surface for use in autonomous driving

Patent metadata

Field	Value
Publication number	US-11619950-B2
Application number	US-202016917772-A
Country	US
Kind code	B2
Filing date	Jun 30, 2020
Priority date	Jun 30, 2020
Publication date	Apr 4, 2023
Grant date	Apr 4, 2023

Abstract

Systems and methods for projecting a three-dimensional (3D) surface to a two-dimensional (2D) surface for use in autonomous driving are disclosed. In one aspect, a control system for an autonomous vehicle includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: receive a 3D map including a plurality of objects, determine a base point in the 3D map, shift the objects in the 3D map based on the base point, project the objects in the shifted 3D map to a 2D map, and output the 2D map.

First claim

What is claimed is:

1. A control system for an autonomous vehicle, comprising: a processor; and
a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to:
receive a three-dimensional (3D) map comprising a plurality of objects,
receive a route for navigating the autonomous vehicle,
determine, on a 2D map, an effective area in which a distortion of locations of the objects corresponding to a projection technique from the 3D map to the 2D map is less than a predetermined value,
determine a base point in the 3D map,
shift the objects in the 3D map based at least in part on the base point to generate a shifted 3D map, and
project the objects from the shifted 3D map to the 2D map,
wherein the objects are shifted and projected such that the route is within the effective area on the 2D map.

2. The control system of claim 1 , wherein the memory further has stored thereon computer-executable instructions to cause the processor to:
set the base point as an origin of the shifted 3D map.

3. The control system of claim 2 , wherein the memory further has stored thereon computer-executable instructions to cause the processor to:
determine a vector representing a shift of the base point from an original location to the origin,
wherein the shifting of the objects in the 3D map comprises shifting each of the objects by the vector.

4. The control system of claim 1 , wherein the projecting of the objects is performed using one of the following projection techniques: Mercator, Universal Transverse Mercator (UTM), Equirectangular, Cassini, cylindrical, and pseudocylindrical projections.

5. The control system of claim 1 , wherein:
the projecting of the objects is performed by the projection technique, and a shape and a size of the effective area are based on the projection technique used in the projecting of the objects.

6. The control system of claim 5 , wherein the projection technique is a Mercator projection.

7. The control system of claim 6 , wherein the effective area comprises an area a predetermined distance from an equator defined with respect to the base point.

8. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:
receive a three-dimensional (3D) map comprising a plurality of objects,
receive a route for navigating of the autonomous vehicle;
determine, on a 2D map, an effective area in which a distortion of locations of the objects corresponding to a projection technique from the 3D map to the 2D map is less than a predetermined value;
determine a base point in the 3D map;
shift the objects in the 3D map based on the base point to generate a shifted 3D map;
project the objects from the shifted 3D map to the 2D map, wherein the objects are shifted and projected such that the route is within the effective area on the 2D map; and
navigate an autonomous vehicle using the 2D map.

9. The non-transitory computer readable storage medium of claim 8 , further having stored thereon instructions that, when executed, cause at least one computing device to:
select the base point based on the route.

10. The non-transitory computer readable storage medium of claim 9 , further having stored thereon instructions that, when executed, cause at least one computing device to:
determine a midpoint between a current location and a destination of the route, wherein the midpoint is set as the base point.

11. The non-transitory computer readable storage medium of claim 9 , further having stored thereon instructions that, when executed, cause at least one computing device to:
determine a midpoint along the route, wherein the midpoint is set as the base point.

12. The non-transitory computer readable storage medium of claim 8 , further having stored thereon instructions that, when executed, cause at least one computing device to:
calculate a geometric value based on locations of at least two of the objects in the 2D map,
wherein the navigating of the autonomous vehicle is based at least in part on the geometric value.

13. The non-transitory computer readable storage medium of claim 12 , wherein the geometric value is a geodetic distance between the at least two of the objects.

14. The non-transitory computer readable storage medium of claim 12 , wherein the geometric value is an angle between the at least two of the objects.

15. The non-transitory computer readable storage medium of claim 12 , wherein the calculating of the geometric value based on the locations of at least two of the objects in the 2D map is more efficient than a corresponding calculation for the at least two of the objects in the 3D map.

16. A method comprising:
receiving a three-dimensional (3D) map comprising a plurality of objects;
receive a route for navigating of the autonomous vehicle,
determine, on a 2D map, an effective area in which a distortion of locations of the objects corresponding to a projection technique from the 3D map to the 2D map is less than a predetermined value,
determining a base point in the 3D map;
shifting the objects in the 3D map based on the base point to generate a shifted 3D map;
project the objects from the shifted 3D map to the 2D map, wherein the objects are shifted and projected such that the route is within the effective area on the 2D map; and
navigating an autonomous vehicle using the 2D map.

17. The method of claim 16 ,
wherein the route is located within the effective area.

18. The method of claim 17 , further comprising:
selecting the base point based on the route such that the route is within the effective area.

19. The method of claim 18 , wherein the base point is one of the following points: a midpoint between a current location and a destination, a midpoint along the route, the current location, or the destination.

Assignees

• Tusimple Inc

Inventors

• Jiang Minhao
• Shi Genmao
• Lu Hsin
• Liu Ziqi

Classifications

• G05D1/2435

  Extracting 3D information · CPC title

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/2437

  Extracting relative motion information · CPC title

• G08G1/096725

  where the received information generates an automatic action on the vehicle control · CPC title

• G08G1/0969

  having a display in the form of a map · CPC title