Map reports from vehicles in the field

• US 9,810,540 B1
• Filed: 07/30/2015
• Issued: 11/07/2017
• Est. Priority Date: 05/07/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Chatham, Andrew Hughes
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US14/813,822
• Time in Patent Office: 831 Days
• Field of Search: 701 27, 701 28, 701 36, 701301, 701410, 701532, 701533, 340436, 340438, 340903, 340990, 34099515, 34099517, 34099522, 34099527, 382104, 382113
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G06F 16/444 Spatial browsing, e.g. 2D maps, 3D or virtual spaces
• CPC Class Codes: G06T 17/005 Tree description, e.g. octree, quadtree
• CPC Class Codes: H04L 67/01 Protocols
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Abstract

Aspects of the present disclosure relate generally to systems and methods for assessing validity of a map using image data collected by a laser sensor along a vehicle path. The method may compile image data received from the laser sensor. The map subject to assessment may define an area prohibiting entry by a vehicle.

Claims

1. A method for assessing validity of a map, comprising:

determining, by one or more processors of a vehicle, a plurality of locations of the vehicle along a path traveled by the vehicle, using environmental image data captured by a sensor of the vehicle;

determining, by the one or more processors, a trajectory of the vehicle based solely on the determined plurality of locations;

comparing, by the one or more processors, the trajectory with a map of a same area as the trajectory;

assessing, by the one or more processors, validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;

maneuvering the vehicle based on the assessed validity of the map; and

transmitting a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.

2. The method of claim 1, further comprising:

transmitting, by the one or more processors, the signal to the server via a network indicating a result of the assessing.

3. The method of claim 1, wherein the map includes an area prohibiting entry for travel.

4. The method of claim 1, wherein the sensor comprises at least one of a laser sensor, a Global Positioning System sensor, or a camera.

5. The method of claim 1, further comprising transmitting a signal to the server indicating that the map is valid when the map includes the plausible path consistent with the trajectory.

6. The method of claim 1, further comprising determining, by the one or more processors, a current location of the vehicle.

7. The method of claim 6, further comprising assessing, by the one or more processors, validity of the map also based on whether the map includes a plausible location consistent with the current location of the vehicle.

8. A system for assessing validity of a map, comprising:

one or more computing devices having one or more processors; and

memory storing a map associated with a vehicle path and instructions executable by the one or more processors to;

determine by a vehicle a plurality of locations of the vehicle along a path traveled by the vehicle, using environmental image data captured by a sensor of the vehicle;

determine a trajectory of the vehicle based solely on the determined plurality of locations;

compare the trajectory to a map of a same area as the trajectory;

assess validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;

maneuver the vehicle based on the assessed validity of the map; and

transmit a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.

9. The system of claim 8, wherein the map includes an area prohibiting entry for travel.

10. The system of claim 8, wherein the instructions further comprise instructions to transmit the signal to the server via a network indicating a result of the assessing.

11. The system of claim 8, wherein the sensor comprises at least one of a laser sensor, a global positioning unit, or a camera.

12. The system of claim 8, wherein the instructions further comprise instructions to transmit a signal to the server indicating that the map is valid when the map includes the plausible path consistent with the trajectory.

13. The system of claim 8, wherein the instructions further comprise instructions to determine a current location of the vehicle.

14. The system of claim 13, wherein the instructions further comprise instructions to assess validity of the map also based on whether the map includes include a plausible location consistent with the current location of the vehicle.

15. A non-transitory computer-readable medium storing instructions, which when executed by a processor, cause the processor to:

determine by a vehicle a plurality of locations of the vehicle along a path traveled by vehicle, using environmental image data captured by a sensor of the vehicle;

determine a trajectory of the vehicle based solely on the determined plurality of locations;

compare the trajectory to the map;

assess validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;

maneuver the vehicle based on the assessed validity of the map; and

transmit a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.

16. The non-transitory computer-readable medium of claim 15, wherein the map includes an area prohibiting entry for travel.

17. The non-transitory computer-readable medium of claim 15, wherein the instructions cause the processor to transmit the signal to the server via a network indicating a result of the assessing.

18. The non-transitory computer-readable medium of claim 15, wherein the sensor comprises data from at least one of a laser sensor, a global positioning unit, or a camera.

19. The non-transitory computer-readable medium of claim 15, wherein the instructions further comprise instructions to determine a current location of the vehicle.

20. The non-transitory computer-readable medium of claim 19, wherein the instructions further comprise instructions to assess validity of the map also based on whether the map includes include a plausible location consistent with the current location of the vehicle.