Semantic map with live updates

Patent metadata

Field	Value
Publication number	US-11808600-B2
Application number	US-202117550471-A
Country	US
Kind code	B2
Filing date	Dec 14, 2021
Priority date	Dec 18, 2019
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

Systems, methods, and devices are disclosed for synchronizing map updates for a navigating autonomous vehicle. A management service on a managing node can receive an update to a portion of a first map, where a limited visibility map, which is a subset of the first map, can be determined based on a geographical area around an autonomous vehicle navigating a route. The limited visibility map can be synchronized among all the nodes while the autonomous vehicle is using the limited visibility map by the management service delivering, to a plurality of downstream nodes, the update to the limited visibility map when the update does not modify a portion of the limited visibility map, and by bypassing, to the plurality of downstream nodes, the update to the limited visibility map when the update modifies a portion of the limited visibility map.

First claim

What is claimed is:

1. A method comprising:
receiving, at a managing node of a computing system of an autonomous vehicle, an update to a map used by the autonomous vehicle;
determining a partial map comprising a subset of the map used by the autonomous vehicle, wherein the partial map is defined by a geographical area within a border located at a predetermined distance from a body of the autonomous vehicle navigating a route;
determining that the update to the map includes a modification to a portion of the map defined by the geographical area that creates an inconsistency between the partial map and the portion of the update to the map defined by the geographical area;
based on the determination, delaying the update to the map for a predetermined time; and
synchronizing the update to the partial map among a set of nodes of the computing system of the autonomous vehicle while the autonomous vehicle is using the partial map to navigate the route, wherein synchronizing the update to the partial map comprises delivering, to one or more downstream nodes of the set of nodes, while the autonomous vehicle is in the geographical area associated with the partial map, the update to the partial map after the delay.

2. The method of claim 1 , wherein delaying the update to the map comprises delaying at least the portion of the update to the map until at least the autonomous vehicle is no longer within the geographical area.

3. The method of claim 1 , wherein delaying the map comprises delaying at least the portion of the update to the map until the autonomous vehicle is no longer using the partial map to navigate the route.

4. The method of claim 1 , wherein the downstream nodes are independent processes associated with sensors and a navigation service, and wherein the independent processes communicate with each other while the autonomous vehicle navigates the route.

5. The method of claim 1 , wherein the managing node is a router.

6. The method of claim 1 , further comprising:
queuing a plurality of updates, wherein each update is associated with a respective version of the map;
determining a current location of the autonomous vehicle and a future location of the autonomous vehicle; and
delivering, to the one or more downstream nodes, a specific update associated with a specific version of the map based on a determination to publish the specific update;
wherein the determination to publish is based on the specific update modifying a portion of the map outside of a range of the current location and the future location of the autonomous vehicle.

7. The method of claim 1 , wherein the geographical area is defined by:
determining a subset of raw first map data that represents a fixed area around a position of the autonomous vehicle within the map; and
extending the subset of raw first map data to include at least a portion of the raw first map data that represents an area outside of the fixed area, wherein the at least the portion of the raw first map data is associated with a semantic feature included within the fixed area, and wherein the semantic feature comprises one or more of a lane, a lane boundary, or drivable and undrivable areas.

8. A non-transitory computer-readable medium containing instructions that, when executed by one or more processors, cause the one or more processors to:
receive, at a managing node of a computing system of an autonomous vehicle, an update to a map used by the autonomous vehicle;
determine a partial map comprising a subset of the map used by the autonomous vehicle, wherein the partial map is defined by a geographical area within a border located at a predetermined distance from a body of the autonomous vehicle navigating a route;
determine that the update to the map includes a modification to a portion of the map defined by the geographical area that creates an inconsistency between the partial map and the portion of the update to the map defined by the geographical area;
based on the determination, delay the update to the map for a predetermined time; and
synchronize the update to the partial map among a set of nodes of the computing system of the autonomous vehicle while the autonomous vehicle is using the partial map to navigate the route, wherein synchronizing the update to the partial map comprises delivering, to one or more downstream nodes of the set of nodes, while the autonomous vehicle is in the geographical area associated with the partial map, the update to the partial map after the delay.

9. The non-transitory computer-readable medium of claim 8 , wherein delaying the update to the map comprises delaying at least the portion of the update to the map until at least the autonomous vehicle is no longer within the geographical area.

10. The non-transitory computer-readable medium of claim 8 , wherein delaying the update to the map comprises delaying at least the portion of the update to the map until the autonomous vehicle is no longer using the partial map to navigate the route.

11. The non-transitory computer-readable medium of claim 8 , wherein the downstream nodes are independent processes associated with sensors and a navigation service, and wherein the independent processes communicate with each other while the autonomous vehicle navigates the route.

12. The non-transitory computer-readable medium of claim 8 , wherein the managing node is a router.

13. The non-transitory computer-readable medium of claim 8 , containing instructions that, when executed by the one or more processors, cause the one or more processors to:
queue a plurality of updates, wherein each update is associated with a respective version of the map;
determine a current location of the autonomous vehicle and a future location of the autonomous vehicle; and
deliver, to the one or more downstream nodes, a specific update associated with a specific version of the map based on a determination to publish the specific update;
wherein the determination to publish is based on the specific update modifying a portion of the map outside of a range of the current location and the future location of the autonomous vehicle.

14. The non-transitory computer-readable medium of claim 8 , wherein the geographical area is defined by:
determining a subset of raw first map data that represents a fixed area around a position of the autonomous vehicle within the map; and
extending the subset of raw first map data to include at least a portion of the raw first map data that represents an area outside of the fixed area, wherein the at least the portion of the raw first map data is associated with a semantic feature included within the fixed area, and wherein the semantic feature comprises one or more of a lane, a lane boundary, or drivable and undrivable areas.

15. A system comprising:
one or more processors; and
at least one non-transitory computer-readable medium containing instructions that, when executed by the one or more processors, cause the one or more processors to:
receive, at a managing node of a computing system of an autonomous vehicle, an update to a map used by the autonomous vehicle;
determine a partial map comprising a subset of the map used by the autonomous vehicle, wherein the partial map is defined by a geographical area within a border located at a predetermined distance from a body of the autonomous vehicle navigating a route;
determine that the update to the map includes a modification to a portion of the map defined by the geographical area that creates an inconsistency between the partial map and the portion of the update to the map defined by the geographical area;
based on the determi

Assignees

• Gm Cruise Holdings Llc

Inventors

• Sergeev Roman
• Robinson Andrew
• Marchioro Rech Lucio Otavio

Classifications

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G01C21/3804 Primary

  Creation or updating of map data · CPC title

• G01C21/02

  by astronomical means (G01C21/24, G01C21/26 take precedence) · CPC title

• G01C21/3602

  Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera · CPC title

• G01C21/387

  Organisation of map data, e.g. version management or database structures · CPC title