Representing navigable surface boundaries of lanes in high definition maps for autonomous vehicles
First Claim
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.
4 Assignments
0 Petitions
Accused Products
Abstract
A system generates a high definition map for an autonomous vehicle to travel from a source location to a destination location. The system determines a low resolution route and receives high definition map data for a set of geographical regions overlaying the low resolution route. The system uses lane elements within the geographical regions to form a set of potential partial routes. The system calculates the error between the potential partial route and the low resolution route and removes potential partial routes with errors above the threshold. Once completed, the system selects a final route and sends signals to the controls of the autonomous vehicle to follow the final route. The system determines whether surface areas adjacent to a lane that are not part of the road are safe for the vehicle to drive in case of emergency. The system stores information describing navigable surface areas with representations of lanes.
16 Citations
29 Claims
-
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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A computer-implemented method comprising:
-
receiving a high definition map representation of a geographical region comprising representations of structures in a geographical region comprising representation of a road including of 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 of 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 beyond 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. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
-
-
20. A computer system for implementing a navigable surface boundary in a high definition map, the computer system comprising:
-
one or more computer processors; and a computer-readable storage medium containing computer program code that when executed causes one or more processors to; receive 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; identify 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, identify 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; generate a polyline representation through the identified set of points; store 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 provide 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. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29)
-
Specification