Intersection completer
First Claim
1. A method of generating a roadgraph graphically representing aspects of an intersection, the method comprising:
- receiving, by a processor, input from a user defining aspects of a first roadway including an intersection with a second roadway, one or more traffic control features, and one or more locations at which a vehicle is required to observe at least one of the one or more traffic control features before entering the intersection;
displaying the aspects of the first and second roadways including the intersection;
receiving input from a user defining a perimeter around the intersection;
calculating a boundary of the intersection based on the perimeter and the aspects of the first and second roadways;
for each particular location of the one or more locations;
identifying a route through the intersection from the particular location; and
determining, based on the boundary of the intersection and the particular location, a set of the one or more traffic control features to be observed by the vehicle before entering the intersection; and
generating a roadgraph based on the user input, the boundary of the intersection, and the determined sets.
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Accused Products
Abstract
Aspects of the disclosure relate generally to generating roadgraphs for use by autonomous vehicles. A computer may receive input defining aspects of a roadway including an intersection with another roadway, one or more traffic control features, and one or more locations at which a vehicle is required to observe at least one traffic signal before entering the intersection. A user may identify the intersection, for example, by tracing a perimeter around the intersection. In response, for each particular location of the one or more locations, the computer may identifying a route through the intersection from the particular location and determine, based on the boundary of the intersection and the particular location, a set of the one or more traffic control features must be observed by the vehicle before entering the intersection. This information may then be used to generate a roadgraph.
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Citations
22 Claims
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1. A method of generating a roadgraph graphically representing aspects of an intersection, the method comprising:
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receiving, by a processor, input from a user defining aspects of a first roadway including an intersection with a second roadway, one or more traffic control features, and one or more locations at which a vehicle is required to observe at least one of the one or more traffic control features before entering the intersection; displaying the aspects of the first and second roadways including the intersection; receiving input from a user defining a perimeter around the intersection; calculating a boundary of the intersection based on the perimeter and the aspects of the first and second roadways; for each particular location of the one or more locations; identifying a route through the intersection from the particular location; and determining, based on the boundary of the intersection and the particular location, a set of the one or more traffic control features to be observed by the vehicle before entering the intersection; and generating a roadgraph based on the user input, the boundary of the intersection, and the determined sets. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A device for generating a roadgraph graphically representing aspects of an intersection, the device comprising:
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a display for displaying information to a user; a processor coupled to the display, the processor being operable to; receive input from the user defining aspects of a first roadway including an intersection with a second roadway, one or more traffic control features, and one or more locations at which a vehicle is required to observe at least one of the one or more traffic control features before entering the intersection; display the aspects of the first and second roadways including the intersection on the display; receive input from a user defining a perimeter around the intersection; calculate a boundary of the intersection based on the perimeter and the aspects of the first and second roadways; for each particular location of the one or more locations; identify a route through the intersection from the particular location; and determine, based on the boundary of the intersection and the particular location, a set of the one or more traffic control features to be observed by the vehicle before entering the intersection; and generate a roadgraph based on the user input, the boundary of the intersection, and the determined sets. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A tangible, non-transitory, computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method of generating a roadgraph graphically representing aspects of an intersection, the method comprising:
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receiving, by a processor, input from a user defining aspects of a first roadway including an intersection with a second roadway, one or more traffic control features, and one or more locations at which a vehicle is required to observe at least one of the one or more traffic control features before entering the intersection; displaying the aspects of the first and second roadways including the intersection; receiving input from a user defining a perimeter around the intersection; calculating a boundary of the intersection based on the perimeter and the aspects of the first and second roadways; for each particular location of the one or more locations; identifying a route through the intersection from the particular location; and determining, based on the boundary of the intersection and the particular location, a set of the one or more traffic control features to be observed by the vehicle before entering the intersection; and generating a roadgraph based on the user input, the boundary of the intersection, and the determined sets. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A vehicle comprising:
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a braking system configured to decelerate the vehicle; an acceleration system configured to accelerate the vehicle; a steering system configured to change the direction of motion of the vehicle; a processor coupled to the breaking, acceleration, and steering systems; and memory coupled to the processor, the memory storing a roadgraph, the roadgraph being generated by; receiving input from a user defining aspects of a first roadway including an intersection with a second roadway, one or more traffic control features, and one or more locations at which a second vehicle is required to observe at least one of the one or more traffic control features before entering the intersection; displaying the aspects of the first and second roadways including the intersection; receiving input from a user defining a perimeter around the intersection; calculating a boundary of the intersection based on the perimeter and the aspects of the first and second roadways; for each particular location of the one or more locations; identifying a route through the intersection from the particular location; and determining, based on the boundary of the intersection and the particular location, a set of the one or more traffic control features to be observed by the vehicle before entering the intersection; and generating the roadgraph based on the user input, the boundary of the intersection, and the determined sets; and wherein the processor is operable to access the roadgraph from the memory and use the roadgraph to navigate the vehicle along a route by controlling one or more of the braking, acceleration, and steering systems.
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Specification