Augmented 3D map

Patent metadata

Field	Value
Publication number	US-12097880-B2
Application number	US-202217724005-A
Country	US
Kind code	B2
Filing date	Apr 19, 2022
Priority date	Jun 28, 2019
Publication date	Sep 24, 2024
Grant date	Sep 24, 2024

Abstract

The present technology provides systems, methods, and devices that can dynamically augment aspects of a map as an autonomous vehicle navigates a route, and therefore avoids the need for dispatching a special purpose mapping vehicle to keep navigating a route. As the autonomous vehicle navigates a route, the autonomous vehicle can determine that current data captured by at least one sensor of the autonomous vehicle describing a location is inconsistent with the primary map of the location. The autonomous vehicle can determine that a portion of the current data describes a second feature that is distinct from a first feature described by a primary map. The second feature can be added to an augmented map that is based on the primary map, and the position of the autonomous vehicle can be located with respect to the first feature rather than the second feature on the augmented map.

First claim

What is claimed is:

1. A method comprising:
receiving driving data descriptive of an environment around an autonomous vehicle, wherein the driving data is captured by at least one sensor of the autonomous vehicle as the autonomous vehicle navigates a route;
comparing the driving data against pre-mapped data descriptive of the environment;
identifying an inconsistency between the driving data and the pre-mapped data with respect to a feature in the environment;
determining a scope of the inconsistency by comparing the feature as described in the driving data and the feature as described in the pre-mapped data;
locating a position of the autonomous vehicle with respect to the feature as described in the driving data based on the scope of the inconsistency;
determining a degree of a shift of the autonomous vehicle in locating the position of the autonomous vehicle with respect to the feature as described in the driving data;
determining, based on the degree of the shift, a length to locate the position of the autonomous vehicle with respect to the feature as described in the driving data; and
navigating the autonomous vehicle based on the located position and the determined length.

2. The method of claim 1 , wherein the pre-mapped data has a higher resolution than the driving data.

3. The method of claim 1 , further comprising:
determining whether to transmit a notification to the autonomous vehicle to stop navigating the route based on the scope of the inconsistency.

4. The method of claim 1 , further comprising:
for each data point of the driving data, performing a nearest neighbor search to find the closest point in the pre-mapped data, wherein the scope of the inconsistency is determined based on a distance between the data point of the driving data and the corresponding closest point in the pre-mapped data.

5. The method of claim 1 , further comprising:
generating an augmented map based on the driving data as the autonomous vehicle navigates the route, wherein the augmented map is a collection of map portions based on the driving data.

6. The method of claim 5 , wherein determining the scope of the inconsistency includes:
determining a number of inconsistent map portions between the augmented map and a primary map, wherein the primary map is a collection of map portions based on the pre-mapped data.

7. The method of claim 1 , further comprising:
determining whether to transmit a notification to the autonomous vehicle to stop navigating the route based on comparison between the degree of the shift against a threshold localization rate.

8. A system comprising:
one or more processors; and
a computer-readable medium comprising instructions stored therein, which when executed by the one or more processors, cause the one or more processors to:
receive driving data descriptive of an environment around an autonomous vehicle, wherein the driving data is captured by at least one sensor of the autonomous vehicle as the autonomous vehicle navigates a route;
compare the driving data against pre-mapped data descriptive of the environment;
identify an inconsistency between the driving data and the pre-mapped data with respect to a feature in the environment;
determine a scope of the inconsistency by comparing the feature as described in the driving data and the feature as described in the pre-mapped data;
locate a position of the autonomous vehicle with respect to the feature as described in the driving data based on the scope of the inconsistency;
determine a degree of a shift of the autonomous vehicle in locating the position of the autonomous vehicle with respect to the feature as described in the driving data;
determine, based on the degree of the shift, a length to locate the position of the autonomous vehicle with respect to the feature as described in the driving data; and
navigate the autonomous vehicle based on the located position and the determined length.

9. The system of claim 8 , wherein the pre-mapped data has a higher resolution than the driving data.

10. The system of claim 8 , wherein the instructions, which when executed by the one or more processors, further cause the one or more processors to:
determine whether to transmit a notification to the autonomous vehicle to stop navigating the route based on the scope of the inconsistency.

11. The system of claim 8 , wherein the instructions, which when executed by the one or more processors, further cause the one or more processors to:
for each data point of the driving data, perform a nearest neighbor search to find the closest point in the pre-mapped data, wherein the scope of the inconsistency is determined based on a distance between the data point of the driving data and the corresponding closest point in the pre-mapped data.

12. The system of claim 8 , wherein the instructions, which when executed by the one or more processors, further cause the one or more processors to:
generating an augmented map based on the driving data as the autonomous vehicle navigates the route, wherein the augmented map is a collection of map portions based on the driving data.

13. The system of claim 12 , wherein the instructions to determine the scope of the inconsistency includes the instructions to determine a number of inconsistent map portions between the augmented map and a primary map, wherein the primary map is a collection of map portions based on the pre-mapped data.

14. The system of claim 8 , wherein the instructions, which when executed by the one or more processors, further cause the one or more processors to:
determine whether to transmit a notification to the autonomous vehicle to stop navigating the route based on comparison between the degree of the shift against a threshold localization rate.

15. A non-transitory computer-readable storage medium comprising computer-readable instructions, which when executed by a computing system, cause the computing system to:
receive driving data descriptive of an environment around an autonomous vehicle, wherein the driving data is captured by at least one sensor of the autonomous vehicle as the autonomous vehicle navigates a route;
compare the driving data against pre-mapped data descriptive of the environment;
identify an inconsistency between the driving data and the pre-mapped data with respect to a feature in the environment;
determine a scope of the inconsistency by comparing the feature as described in the driving data and the feature as described in the pre-mapped data;
locate a position of the autonomous vehicle with respect to the feature as described in the driving data based on the scope of the inconsistency;
determine a degree of a shift of the autonomous vehicle in locating the position of the autonomous vehicle with respect to the feature as described in the driving data;
determine, based on the degree of the shift, a length to locate the position of the autonomous vehicle with respect to the feature as described in the driving data; and
navigate the autonomous vehicle based on the located position and the determined length.

16. The non-transitory computer-readable storage medium of claim 15 , wherein the pre-mapped data has a higher resolution than the driving data.

17. The non-transitory computer-readable storage medium of claim 15 , wherein the instructions, which when executed by the computing system, further cause the computing system to:
determine whether to transmit a notification to the autonomous vehicle to stop navigating the route based on the scope of the inconsistency.

18. The non-transi

Assignees

• Gm Cruise Holdings Llc

Inventors

• Fasola Juan
• Lin Yu-Cheng

Classifications

• G01C21/3844

  Data obtained from position sensors only, e.g. from inertial navigation · CPC title

• B60W2556/40

  High definition maps · CPC title

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• G01C21/3881

  Tile-based structures · CPC title

• G01C21/3848

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