Sparse map for autonomous vehicle navigation

Patent metadata

Field	Value
Publication number	US-9665100-B2
Application number	US-201615272598-A
Country	US
Kind code	B2
Filing date	Sep 22, 2016
Priority date	Feb 10, 2015
Publication date	May 30, 2017
Grant date	May 30, 2017

Abstract

A non-transitory computer-readable medium is provided. The computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment, and a plurality of predetermined landmarks associated with the road segment. The plurality of predetermined landmarks are spaced apart by at least 50 meters, and the sparse map has a data density of no more than 1 megabyte per kilometer.

First claim

What is claimed is:

1. An autonomous vehicle, comprising:
a body; and
a non-transitory computer-readable medium including a sparse map for autonomous vehicle navigation along a road segment,
the sparse map comprising:
a polynomial representation of a target trajectory for the autonomous vehicle along the road segment; and
a plurality of predetermined landmarks associated with the road segment,
wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters, and
wherein the sparse map has a data density of no more than 1 megabyte per kilometer; and

a processor configured to execute data included in the sparse map for providing autonomous vehicle navigation along the road segment.

2. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks include a traffic sign represented in the sparse map by no more than 50 bytes of data.

3. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks include a directional sign represented in the sparse map by no more than 50 bytes of data.

4. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks include a general purpose sign represented in the sparse map by no more than 100 bytes of data.

5. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks include a generally rectangular object represented in the sparse map by no more than 100 bytes of data.

6. The autonomous vehicle of claim 5 , wherein the representation of the generally rectangular object in the sparse map includes a condensed image signature associated with the generally rectangular object.

7. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks are represented in the sparse map by parameters including landmark size, distance to previous landmark, landmark type, and landmark position.

8. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks included in the sparse map are spaced apart by at least 2 kilometers.

9. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks included in the sparse map are spaced apart by at least 1 kilometer.

10. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks included in the sparse map are spaced apart by at least 100 meters.

11. The autonomous vehicle of claim 1 , wherein the sparse map has a data density of no more than 100 kilobytes per kilometer.

12. The autonomous vehicle of claim 1 , wherein the sparse map has a data density of no more than 10 kilobytes per kilometer.

13. The autonomous vehicle of claim 1 , wherein the plurality of predetermined landmarks appear in the sparse map at a rate that is above a rate sufficient to maintain a longitudinal position determination accuracy within 1 meter.

14. The autonomous vehicle of claim 1 , wherein the polynomial representation is a three-dimensional polynomial representation.

15. The autonomous vehicle of claim 1 , wherein the polynomial representation of the target trajectory is determined based on two or more reconstructed trajectories of prior traversals of vehicles along the road segment.

16. An autonomous vehicle, comprising:
a body; and
a processor configured to
receive data included in a sparse map and
execute the data for autonomous vehicle navigation along a road segment, the sparse map comprising:
a polynomial representation of a target trajectory for the autonomous vehicle along the road segment; and
a plurality of predetermined landmarks associated with the road segment,
wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters, and
wherein the sparse map has a data density of no more than 1 megabyte per kilometer.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Shashua Amnon
• Gdalyahu Yoram
• Springer Ofer
• Reisman Aran
• Braunstein Daniel

Classifications

• G01C21/32

  Structuring or formatting of map data · CPC title

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• G08G1/096805

  where the transmitted instructions are used to compute a route · CPC title

• G08G1/09623

  Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence) · CPC title