Autonomous vehicle lane 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 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, andidentify an optimal route from the plurality of candidate routes, 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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Accused Products
Abstract
A method and apparatus for autonomous vehicle lane routing and navigation are provided. Autonomous vehicle lane routing and navigation may include identifying vehicle transportation network information including road segment information and lane information, 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, identifying an origin, identifying a destination, generating a plurality of candidate routes from the origin to the destination, 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, identifying an optimal route from the plurality of candidate routes, 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.
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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 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, and identify an optimal route from the plurality of candidate routes, 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)
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16. An autonomous vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify transportation network information, the 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 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, and identify an optimal route from the plurality of candidate routes, 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 (17, 18, 19)
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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 transportation network information, the 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 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; identify a third routing state, the third routing state including an indication of a third road segment, an indication of a third lane associated with the third road segment, and an indication of a third waypoint associated with the third lane such that the third waypoint is immediately adjacent to the first waypoint; generate an action cost representing a cost to transition from the first routing state to the third routing state; generate an action cost representing a cost to transition from the first routing state to the second routing state; and select the minimal action cost from among the action cost representing the cost to transition from the first routing state to the second routing state and the action cost representing the cost to transition from the first routing state to the third routing state, and identify an optimal route from the plurality of candidate routes, the optimal route having a minimal route cost, based at least in part on the minimal action 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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Specification