Map reports from vehicles in the field

• US 10,520,323 B1
• Filed: 10/10/2017
• Issued: 12/31/2019
• Est. Priority Date: 05/07/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Chatham, Andrew Hughes
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US15/729,182
• Time in Patent Office: 812 Days
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G06F 16/444 Spatial browsing, e.g. 2D maps, 3D or virtual spaces
• CPC Class Codes: G06T 17/005 Tree description, e.g. octree, quadtree
• CPC Class Codes: H04L 67/01 Protocols
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Abstract

Aspects of the present disclosure relate generally to systems and methods for assessing validity of a map using image data collected by a laser sensor along a vehicle path. The method may compile image data received from the laser sensor. The map subject to assessment may define an area prohibiting entry by a vehicle.

Claims

1. A method for assessing validity of a map, comprising:

receiving a compressed image describing a path of a vehicle through an area, wherein the compressed image is an image derived from image data collected by a sensor;

reconstructing, by one or more processors, the compressed image to form a first image;

identifying, by the one or more processors, a map related to the area;

displaying, by the one or more processors, the first image in relation to the map, by overlaying the first image on top of the map such that same objects appearing in both the first image and the map appear at same geographical areas, and determining whether one or more discrepancies exist between the map and the first image;

assessing, by the one or more processors, validity of the map based on the display of the first image in relation to the map; and

maneuvering the vehicle based on the assessed validity of the map.

2. The method of claim 1, wherein the map includes an area prohibiting entry for travel.

3. The method of claim 2, wherein the area prohibiting entry includes a construction zone.

4. The method of claim 2, wherein the area prohibiting entry includes a merger zone.

5. The method of claim 1, further comprising receiving the compressed image from a cellular modem.

6. The method of claim 1, further comprising, if one or more discrepancies exist between the map and the first image, transmitting a signal to a remote computing device indicating that the map is invalid.

7. The method of claim 1, further comprising, if no discrepancies exist between the map and the first image, transmitting a signal to a remote computing device indicating that the map is valid.

8. A method for assessing validity of a map, comprising:

determining, by one or more processors a current location of a vehicle, using a sensor of the vehicle;

identifying, by the one or more processors, a map related to the current location of the vehicle, the map including an area prohibiting entry for travel;

determining, by the one or more processors, whether the map includes a plausible location unobstructed for travel when the area prohibiting entry for travel overlaps with the current location of the vehicle;

assessing, by the one or more processors, validity of the map based on the determination;

maneuvering the vehicle based on the assessed validity of the map; and

transmitting a signal indicating that the map is invalid when the map does not include the plausible location consistent with the current location of the vehicle.

9. The method of claim 8, further comprising:

transmitting a signal to a server via a network indicating a result of the assessing.

10. The method of claim 8, wherein the sensor comprises at least one of a laser sensor, a Global Positioning System sensor, and a camera.

11. The method of claim 8, further comprising transmitting a signal indicating that the map is valid when the map includes the plausible location consistent with the current location of the vehicle.

12. The method of claim 8, further comprising terminating the method when the map does not include the plausible location consistent with the current location of the vehicle.

13. The method of claim 8, wherein determining the current location of the vehicle includes determining a set of locations visited by the vehicle including the current location.

14. The method of claim 13, wherein the set of locations are determined during a period of time when the vehicle is in a non-autonomous mode.

15. The method of claim 8, wherein determining the current location of the vehicle includes using a low frequency to determine the current location.

16. The method of claim 8, wherein the area prohibiting entry includes a construction zone.

17. The method of claim 8, wherein the area prohibiting entry includes a merger zone.