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Representing navigable surface boundaries of lanes in high definition maps for autonomous vehicles

  • US 10,474,164 B2
  • Filed: 12/22/2017
  • Issued: 11/12/2019
  • Est. Priority Date: 12/30/2016
  • Status: Active Grant
First Claim
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1. A non-transitory computer readable storage medium storing instructions for implementing a navigable surface boundary in a high definition map encoded thereon that, when executed by a processor, cause the processor to perform the steps including:

  • receiving a high definition map representation of a geographical region comprising three-dimensional representations of structures in a geographical region comprising a representation of a road including one or more lanes, each lane having a pair of lane boundaries, each lane boundary representing an edge of the lane;

    identifying from the high definition map, one or more structures of the geographical region, each structure located outside the road;

    for each of the identified structures, identifying a set of points on the structure based on their perpendicular distance from a lane boundary of a road, wherein each point of the set lies outside the road;

    generating a polyline representation through the identified set of points;

    storing in the high definition map representation of the geographical region, the polyline representation as a navigable surface boundary for the road, wherein the navigable surface boundary corresponds to a physical area that lies outside the road such that a vehicle may safely navigate within the physical area; and

    providing the high definition map representation of the geographical region to an autonomous vehicle driving within the geographical region, wherein the vehicle makes a determination whether to drive over a navigable surface outside the road.

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