Detailed map format for autonomous driving
First Claim
1. A method of operating an autonomous vehicle, the method comprising:
- determining a current location of the autonomous vehicle;
comparing the current location of the autonomous vehicle to a computer readable map format, the map format including a lane segment and a border segment, the border segment being formed from a plurality of borderpoints, wherein information is associated with one or more of the plurality of borderpoints, the information including a geographical location, a border type, and a border color;
determining, using the map format, a distance between the current location of the autonomous vehicle and an edge of the lane segment at a location along the lane segment, the determining including measuring a distance between the current location of the autonomous vehicle and a portion of the border segment closest to the current location of the autonomous vehicle;
determining a driving maneuver based on the determined distance, the driving maneuver being a driving maneuver affecting the movement of the autonomous vehicle; and
causing one or more vehicle systems of the autonomous vehicle to implement the determined driving maneuver, whereby movement of the autonomous vehicle is affected by the implemented driving maneuver.
2 Assignments
0 Petitions
Accused Products
Abstract
A computer-readable detailed map format is disclosed. The detailed map format includes a lane segment and one or more border segments. The map format can be used in the operation of an autonomous vehicle. A current location of the autonomous vehicle can be determined. The current location of the autonomous vehicle can be compared to the computer readable map format. A distance between the current location of the autonomous vehicle and an edge of the lane segment at a location along the lane segment can be determined by, for example, measuring a distance between the current location of the autonomous vehicle and a portion of the border segment closest to the current location of the autonomous vehicle. A driving maneuver can be determined based at least in part on the determined distance. One or more vehicle systems of the autonomous vehicle can be caused to implement the determined driving maneuver.
-
Citations
18 Claims
-
1. A method of operating an autonomous vehicle, the method comprising:
-
determining a current location of the autonomous vehicle; comparing the current location of the autonomous vehicle to a computer readable map format, the map format including a lane segment and a border segment, the border segment being formed from a plurality of borderpoints, wherein information is associated with one or more of the plurality of borderpoints, the information including a geographical location, a border type, and a border color; determining, using the map format, a distance between the current location of the autonomous vehicle and an edge of the lane segment at a location along the lane segment, the determining including measuring a distance between the current location of the autonomous vehicle and a portion of the border segment closest to the current location of the autonomous vehicle; determining a driving maneuver based on the determined distance, the driving maneuver being a driving maneuver affecting the movement of the autonomous vehicle; and causing one or more vehicle systems of the autonomous vehicle to implement the determined driving maneuver, whereby movement of the autonomous vehicle is affected by the implemented driving maneuver. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. An autonomous vehicle system comprising:
-
a processing unit; a memory communicatively coupled to the processing unit, the memory including a computer-readable map format, the map format including a lane segment and a border segment, the border segment being formed from a plurality of borderpoints, wherein information is associated with one or more of the plurality of borderpoints, the information including a geographical location, a border type, and a border color; and one or more vehicle communicatively coupled to the processing unit, the processing unit being configured to; compare a current location of an autonomous vehicle to the map format; determine, using the map format, a distance between the current location of the autonomous vehicle and an edge of the lane segment at a location along the lane segment, the determining including measuring a distance between the current location of the autonomous vehicle and a portion of the border segment closest to the current location of the autonomous vehicle; determine a driving maneuver based on the determined distance, the driving maneuver being a driving maneuver affecting the movement of the autonomous vehicle; and cause one or more vehicle systems to implement the determined driving maneuver, whereby movement of the autonomous vehicle is affected by the implemented driving maneuver. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
-
Specification