Use of prior maps for estimation of lane boundaries

Patent metadata

Field	Value
Publication number	US-9417631-B2
Application number	US-201615062853-A
Country	US
Kind code	B2
Filing date	Mar 7, 2016
Priority date	Nov 21, 2013
Publication date	Aug 16, 2016
Grant date	Aug 16, 2016

Abstract

Disclosed herein are methods and systems for using prior maps for estimation of lane boundaries or other features within an environment. An example method may include receiving a location of a plurality of detected points on a roadway in an environment of an autonomous vehicle, determining, from a prior map of the roadway, a location of a plurality of reference points from a boundary marker on the roadway that correspond to the detected points on the roadway, determining distances between the detected points and the corresponding reference points based on the location of the detected points in the environment and the location of the reference points from the prior map of the roadway, determining a confidence buffer representing a threshold amount of variation associated with the prior map based at least in part on the distances between the detected points and the corresponding reference points, selecting one or more of the detected points such that the distance between a selected detected point and a corresponding reference point is less than the confidence buffer, and using the selected points to direct the autonomous vehicle along the roadway.

First claim

We claim:

1. A computer-implemented method, comprising:
receiving a location of a plurality of detected points on a roadway in an environment of an autonomous vehicle;
determining, from a prior map of the roadway, a location of a plurality of reference points from a boundary marker on the roadway that correspond to the detected points on the roadway;
determining distances between the detected points and the corresponding reference points based on the location of the detected points in the environment and the location of the reference points from the prior map of the roadway;
selecting one or more of the detected points such that the distance between a selected detected point and a corresponding reference point is less than a confidence buffer;
adjusting the confidence buffer based on a percentage of the detected points that were not selected; and
using the selected points as a current representation of the boundary marker to direct the autonomous vehicle along the roadway.

2. The method of claim 1 , wherein determining the location of the plurality of reference points comprises selecting a plurality of points from a continuous curve corresponding to the boundary marker on the prior map.

3. The method of claim 1 , further comprising adjusting the confidence buffer in response to determining that more than half of the detected points were not selected.

4. The method of claim 1 , wherein adjusting the confidence buffer based on the percentage of the detected points that were not selected comprises comparing the percentage to a predetermined threshold percentage.

5. The method of claim 1 , further comprising:
determining a confidence metric associated with a level of confidence in the prior map;
periodically updating the confidence metric based at least in part on distances between detected points and corresponding reference points; and
determining the confidence buffer as a function of the confidence metric.

6. The method of claim 1 , further comprising determining the confidence buffer by assigning a greater weight to detected points that were detected more recently.

7. The method of claim 1 , further comprising determining the confidence buffer by assigning a weight to detected points based on a distance of the detected points to a sensor which detected the points.

8. The method of claim 1 , further comprising:
determining a trend in the distances between detected points and corresponding reference points; and
based on a distance between a given detected point and a corresponding reference point following the trend, selecting the given detected point.

9. A vehicle, comprising:
a computing system configured to:
receive a location of a plurality of detected points on a roadway in an environment of an autonomous vehicle;
determine, from a prior map of the roadway, a location of a plurality of reference points from a boundary marker on the roadway that correspond to the detected points on the roadway;
determine distances between the detected points and the corresponding reference points based on the location of the detected points in the environment and the location of the reference points from the prior map of the roadway;
select one or more of the detected points such that the distance between a selected detected point and a corresponding reference point is less than a confidence buffer;
adjust the confidence buffer based on a percentage of the detected points that were not selected; and
use the selected points as a current representation of the boundary marker to direct the autonomous vehicle along the roadway.

10. The vehicle of claim 9 , wherein the control system is configured to determine the location of the plurality of reference points by selecting a plurality of points from a continuous curve corresponding to the boundary marker on the prior map.

11. The vehicle of claim 9 , wherein the control system is further configured to adjust the confidence buffer in response to determining that more than half of the detected points were not selected.

12. The vehicle of claim 9 , wherein the control system is configured to adjust the confidence buffer based on the percentage of the detected points that were not selected by comparing the percentage to a predetermined threshold percentage.

13. The vehicle of claim 9 , wherein the control system is further configured to:
determine a confidence metric associated with a level of confidence in the prior map;
periodically update the confidence metric based at least in part on distances between detected points and corresponding reference points; and
determine the confidence buffer as a function of the confidence metric.

14. The vehicle of claim 9 , wherein the control system is further configured to determine the confidence buffer by assigning a greater weight to detected points that were detected more recently.

15. The vehicle of claim 9 , wherein the control system is further configured to determine the confidence buffer by assigning a weight to detected points based on a distance of the detected points to a sensor which detected the points.

16. A non-transitory computer readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising:
receiving a location of a plurality of detected points on a roadway in an environment of an autonomous vehicle;
determining, from a prior map of the roadway, a location of a plurality of reference points from a boundary marker on the roadway that correspond to the detected points on the roadway;
determining distances between the detected points and the corresponding reference points based on the location of the detected points in the environment and the location of the reference points from the prior map of the roadway;
selecting one or more of the detected points such that the distance between a selected detected point and a corresponding reference point is less than a confidence buffer;
adjusting the confidence buffer based on a percentage of the detected points that were not selected; and
using the selected points as a current representation of the boundary marker to direct the autonomous vehicle along the roadway.

17. The non-transitory computer readable medium of claim 16 , wherein determining the location of the plurality of reference points comprises selecting a plurality of points from a continuous curve corresponding to the boundary marker on the prior map.

18. The non-transitory computer readable medium of claim 16 , wherein the functions further comprise adjusting the confidence buffer in response to determining that more than half of the detected points were not selected.

19. The non-transitory computer readable medium of claim 16 , wherein adjusting the confidence buffer based on the percentage of the detected points that were not selected comprises comparing the percentage to a predetermined threshold percentage.

20. The non-transitory computer readable medium of claim 16 , the functions further comprising:
determining a confidence metric associated with a level of confidence in the prior map;
periodically updating the confidence metric based at least in part on distances between detected points and corresponding reference points; and
determining the confidence buffer as a function of the confidence metric.

21. The non-transitory computer readable medium of claim 16 , the functions further comprising:
determining the confidence buffer by assigning a greater weight to detected points tha

Assignees

• Google Inc

Inventors

• Ferguson David Ian
• Silver David Harrison

Classifications

• G06V20/588 Primary

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title

• G05D1/0231

  using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16) · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title

• B60W40/00

  Estimation or calculation of {non-directly measurable} driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, {e.g. by using mathematical models} · CPC title