SYNCHRONOUSLY UPDATED VEHICLE TRANSPORTATION NETWORK INFORMATION FOR AUTONOMOUS VEHICLE ROUTING AND NAVIGATION
First Claim
1. An autonomous vehicle comprising:
- a processor configured to execute instructions stored on a non-transitory computer readable medium to;
identify vehicle transportation network information, the vehicle transportation network information including road segment information representing a plurality of road segments, the road segment information including lane information representing at least one lane for each respective road segment, wherein the road segment information for at least one road segment from the plurality of road segments includes lane information representing at least two adjacent lanes,identify an origin,identify a destination,generate a plurality of candidate routes from the origin to the destination based on the vehicle transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes, and wherein at least one candidate route from the plurality of candidate routes includes at least one of the adjacent lanes,receive, from an off-vehicle sensor, current vehicle transportation network state information indicating a state of at least a portion of at least one road segment from the plurality of road segments, andidentify an optimal route from the plurality of candidate routes based at least in part on the current vehicle transportation network state information, the optimal route having a minimal route cost; and
a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the destination using the optimal route.
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Abstract
A method and apparatus for synchronously updated vehicle transportation network information for autonomous vehicle routing and navigation are provided. Synchronously updated vehicle transportation network information for autonomous vehicle routing and navigation may include an autonomous vehicle identifying vehicle transportation network information, identifying an origin, identifying a destination, generating a plurality of candidate routes from the origin to the destination based on the vehicle transportation network information, receiving, from an off-vehicle sensor, current vehicle transportation network state information indicating a state of at least a portion of the vehicle transportation network, identifying an optimal route from the plurality of candidate routes based at least in part on the current vehicle transportation network state information, the optimal route having a minimal route cost, and operating the autonomous vehicle to travel from the origin to the destination using the optimal route.
55 Citations
20 Claims
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1. An autonomous vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify vehicle transportation network information, the vehicle transportation network information including road segment information representing a plurality of road segments, the road segment information including lane information representing at least one lane for each respective road segment, wherein the road segment information for at least one road segment from the plurality of road segments includes lane information representing at least two adjacent lanes, identify an origin, identify a destination, generate a plurality of candidate routes from the origin to the destination based on the vehicle transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes, and wherein at least one candidate route from the plurality of candidate routes includes at least one of the adjacent lanes, receive, from an off-vehicle sensor, current vehicle transportation network state information indicating a state of at least a portion of at least one road segment from the plurality of road segments, and identify an optimal route from the plurality of candidate routes based at least in part on the current vehicle transportation network state information, the optimal route having a minimal route cost; and a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the destination using the optimal route. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An autonomous vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify vehicle transportation network information, the vehicle transportation network information including road segment information representing a plurality of road segments, the road segment information including lane information representing at least one lane for each respective road segment, the lane information including waypoint information representing at least one waypoint for each respective lane, wherein the road segment information for at least one road segment from the plurality of road segments includes lane information representing at least two adjacent lanes, identify an origin, identify a destination, generate a plurality of candidate routes from the origin to the destination based on the vehicle transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes, and wherein at least one candidate route from the plurality of candidate routes includes at least one of the adjacent lanes, for at least one candidate route from the plurality of candidate routes; identify a first routing state, the first routing state including an indication of a first road segment, an indication of a first lane associated with the first road segment, and an indication of a first waypoint associated with the first lane; identify a second routing state, the second routing state including an indication of a second road segment, an indication of a second lane associated with the second road segment, and an indication of a second waypoint associated with the second lane such that the second waypoint is immediately adjacent to the first waypoint; and generate an action cost representing a cost to transition from the first routing state to the second routing state, identify an optimal route from the plurality of candidate routes based at least in part on the action cost, the optimal route having a minimal route cost, receive, from an off-vehicle sensor, current vehicle transportation network state information indicating a state of at least a portion of at least one road segment from the plurality of road segments, generate an updated optimal route based on the current vehicle transportation network state information in response to receiving the current vehicle transportation network state information; and a trajectory controller configured to operate the autonomous vehicle to begin traveling from the origin to the destination using the optimal route and to complete traveling to the destination using the updated optimal route.
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20. An autonomous vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify vehicle transportation network information, the vehicle transportation network information including road segment information representing a plurality of road segments, the road segment information including lane information representing at least one lane for each respective road segment, the lane information including waypoint information representing at least one waypoint for each respective lane, wherein the road segment information for at least one road segment from the plurality of road segments includes lane information representing at least two adjacent lanes, identify an origin, identify a destination, generate a plurality of candidate routes from the origin to the destination based on the vehicle transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes, and wherein at least one candidate route from the plurality of candidate routes includes at least one of the adjacent lanes, generate a route cost for a first candidate route from the plurality of candidate routes; generate a route cost for a second candidate route from the plurality of candidate routes; identify an optimal route from the plurality of candidate routes based at least in part on the route cost for the first candidate route and the route cost for the second candidate route, the optimal route having a minimal route cost; receive, from an off-vehicle sensor, current vehicle transportation network state information indicating a state of at least a portion of the first candidate route, generate an updated route cost for the first candidate route based on the current vehicle transportation network state information in response to receiving the current vehicle transportation network state information, identify an updated optimal route from the plurality of candidate routes based at least in part on the updated route cost for the first candidate route; and a trajectory controller configured to operate the autonomous vehicle to begin traveling from the origin to the destination using the optimal route and to complete traveling to the destination using the updated optimal route.
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Specification