SPARSE MAP FOR AUTONOMOUS VEHICLE NAVIGATION
First Claim
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1. A non-transitory computer-readable medium including a sparse map for autonomous vehicle navigation along a road segment, the sparse map comprising:
- a polynomial representation of a target trajectory for the autonomous vehicle along the road segment; and
a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters, and wherein the sparse map has a data density of no more than 1 megabyte per kilometer.
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Abstract
A non-transitory computer-readable medium is provided. The computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment, and a plurality of predetermined landmarks associated with the road segment. The plurality of predetermined landmarks are spaced apart by at least 50 meters, and the sparse map has a data density of no more than 1 megabyte per kilometer.
62 Citations
20 Claims
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1. A non-transitory computer-readable medium including a sparse map for autonomous vehicle navigation along a road segment, the sparse map comprising:
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a polynomial representation of a target trajectory for the autonomous vehicle along the road segment; and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters, and wherein the sparse map has a data density of no more than 1 megabyte per kilometer. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An autonomous vehicle, comprising:
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a body; and a non-transitory computer-readable medium including a sparse map for autonomous vehicle navigation along a road segment, the sparse map comprising; a polynomial representation of a target trajectory for the autonomous vehicle along the road segment; and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters, and wherein the sparse map has a data density of no more than 1 megabyte per kilometer; and a processor configured to execute data included in the sparse map for providing autonomous vehicle navigation along the road segment. - View Dependent Claims (17, 18)
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19. An autonomous vehicle, comprising:
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a body; and a processor configured to receive data included in a sparse map and execute the data for autonomous vehicle navigation along a road segment, the sparse map comprising; a polynomial representation of a target trajectory for the autonomous vehicle along the road segment; and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters, and wherein the sparse map has a data density of no more than 1 megabyte per kilometer.
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20-28. -28. (canceled)
Specification