Change detection using curve alignment
First Claim
1. A computer-implemented method comprising:
- receiving, by one or more computing devices, data identifying a lane line detected in a vehicle'"'"'s environment, the data including location coordinates for the lane line;
identifying, by the one or more computing devices, a related feature used to define the lane line from pre-stored map information based on the location coordinates and a map location of the related feature, the related feature being associated with a tag identifying a type of the related feature;
identifying, by the one or more computing devices, at least one tolerance constraint based on the tag, the at least one tolerance constraint limiting an amount the type of the related feature can be changed;
aligning, by the one or more computing devices, the related feature with the location coordinates for the lane line by repositioning the related feature;
generating, by the one or more computing devices, a probability value that the related feature has moved based on a comparison of location coordinates for the repositioned related feature and the location coordinates for the related feature; and
using, by the one or more computing devices, the probability value and the at least one tolerance constraint to maneuver the vehicle in an autonomous driving mode.
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Accused Products
Abstract
Aspects of the disclosure relate to determining whether a feature of map information. For example, data identifying an object detected in a vehicle'"'"'s environment and including location coordinates is received. This information is used to identify a corresponding feature from pre-stored map information based on a map location of the corresponding feature. The corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding object. A tolerance constraint is identified based on the tag. The curve is divided into two or more line segments. Each line segment has a first position. The first position of a line segment is changed in order to determine a second position based on the location coordinates and the tolerance constraint. A value is determined based on a comparison of the first position to the second position. This value indicates a likelihood that the corresponding feature has changed.
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Citations
23 Claims
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1. A computer-implemented method comprising:
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receiving, by one or more computing devices, data identifying a lane line detected in a vehicle'"'"'s environment, the data including location coordinates for the lane line; identifying, by the one or more computing devices, a related feature used to define the lane line from pre-stored map information based on the location coordinates and a map location of the related feature, the related feature being associated with a tag identifying a type of the related feature; identifying, by the one or more computing devices, at least one tolerance constraint based on the tag, the at least one tolerance constraint limiting an amount the type of the related feature can be changed; aligning, by the one or more computing devices, the related feature with the location coordinates for the lane line by repositioning the related feature; generating, by the one or more computing devices, a probability value that the related feature has moved based on a comparison of location coordinates for the repositioned related feature and the location coordinates for the related feature; and using, by the one or more computing devices, the probability value and the at least one tolerance constraint to maneuver the vehicle in an autonomous driving mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system comprising one or more computing devices, each having one or more processors configured to:
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receive data identifying a lane line detected in a vehicle'"'"'s environment, the data including location coordinates for the lane line; identify a related feature used to define the lane line from pre-stored map information based on the location coordinates and a map location of the related feature, the related feature being associated with a tag identifying a type of the related feature; identify, by the one or more computing devices, at least one tolerance constraint based on the tag, the at least one tolerance constraint limiting an amount the related feature can be changed; align the related feature with the location coordinates for the lane line by repositioning the related feature; generate a probability value that the related feature has moved based on a comparison of location coordinates for the repositioned related feature and the location coordinates for the related feature; and use the probability value and the at least one tolerance constraint to maneuver the vehicle in an autonomous driving mode. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A non-transitory, tangible computer readable medium on which instructions are stored, the instructions, when executed by one or more processors cause the one or more processors to perform a method, the method comprising:
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receiving, by one or more computing devices, data identifying a lane line detected in a vehicle'"'"'s environment, the data including location coordinates for the lane line; identifying a related feature used to define the lane line from pre-stored map information based on the location coordinates and a map location of the related feature, the related feature being associated with a tag identifying a type of the related feature; identifying, by the one or more computing devices, at least one tolerance constraint based on the tag, the at least one tolerance constraint limiting an amount the related feature can be changed; aligning the related feature with the location coordinates for the lane line by repositioning the related feature; generating a probability value that the related feature has moved based on a comparison of location coordinates for the repositioned related feature and the location coordinates for the related feature; and using the probability value and the at least one tolerance constraint to maneuver the vehicle in an autonomous driving mode. - View Dependent Claims (21, 22, 23)
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Specification