Change detection using curve alignment
First Claim
1. A computer-implemented method comprising:
- receiving, by one or more computing devices, data identifying a portion of a lane line detected in a vehicle'"'"'s environment, the data including location coordinates for the portion of the lane line;
identifying, by the one or more computing devices, a corresponding feature for the lane line from pre-stored map information based on the location coordinates and a map location of the corresponding feature, wherein the corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding feature;
identifying, by the one or more computing devices, a tolerance constraint based on the tag identifying the type of the corresponding feature;
dividing, by the one or more computing devices, the portion of the lane line into two or more line segments, each line segment of the two or more line segments having a first position;
changing, by the one or more computing devices, the first position of one of the two or more line segments to determine a second position of the one of the two or more line segments based on the location coordinates and the tolerance constraint, wherein changing the first position includes at least one of shifting in a lateral manner or rotating in an angular manner the first position of the one of the two or more line segments towards a position of a corresponding portion of the curve;
determining, by the one or more computing devices, a value based on a comparison of the first position to the second position, wherein the value indicates a likelihood that the corresponding feature has changed; and
using, by the one or more processors, the value to maneuver the vehicle in an autonomous driving mode.
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Accused Products
Abstract
Aspects of the disclosure relate to determining whether a feature of map information. For example, data identifying an object detected in a vehicle'"'"'s environment and including location coordinates is received. This information is used to identify a corresponding feature from pre-stored map information based on a map location of the corresponding feature. The corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding feature. A tolerance constraint is identified based on the tag. The curve is divided into two or more line segments. Each line segment has a first position. The first position of a line segment is changed in order to determine a second position based on the location coordinates and the tolerance constraint. A value is determined based on a comparison of the first position to the second position. This value indicates a likelihood that the corresponding feature has changed.
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Citations
20 Claims
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1. A computer-implemented method comprising:
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receiving, by one or more computing devices, data identifying a portion of a lane line detected in a vehicle'"'"'s environment, the data including location coordinates for the portion of the lane line; identifying, by the one or more computing devices, a corresponding feature for the lane line from pre-stored map information based on the location coordinates and a map location of the corresponding feature, wherein the corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding feature; identifying, by the one or more computing devices, a tolerance constraint based on the tag identifying the type of the corresponding feature; dividing, by the one or more computing devices, the portion of the lane line into two or more line segments, each line segment of the two or more line segments having a first position; changing, by the one or more computing devices, the first position of one of the two or more line segments to determine a second position of the one of the two or more line segments based on the location coordinates and the tolerance constraint, wherein changing the first position includes at least one of shifting in a lateral manner or rotating in an angular manner the first position of the one of the two or more line segments towards a position of a corresponding portion of the curve; determining, by the one or more computing devices, a value based on a comparison of the first position to the second position, wherein the value indicates a likelihood that the corresponding feature has changed; and using, by the one or more processors, the value to maneuver the vehicle in an autonomous driving mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system comprising one or more computing devices, each having one or more processors configured to:
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receive data identifying a portion of a lane line detected in a vehicle'"'"'s environment, the data including location coordinates for the portion of the lane line; identify a corresponding feature for the lane line from pre-stored map information based on the location coordinates and a map location of the corresponding feature, wherein the corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding feature; identify a tolerance constraint based on the tag identifying the type of the corresponding feature; divide the portion of the lane line into two or more line segments, each line segment of the two or more line segments having a first position; change the first position of the one of the two or more line segments to determine a second position of one of the two or more line segments based on the location coordinates and the tolerance constraint, wherein changing the first position includes at least one of shifting in a lateral manner or rotating in an angular manner the first position of the one of the two or more line segments towards a position of a corresponding portion of the curve; determine a value based on a comparison of the first position to the second position, wherein the value indicates a likelihood that the corresponding feature has changed; and use the value to maneuver the vehicle in an autonomous driving mode. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A non-transitory, tangible computer readable medium on which instructions are stored, the instructions, when executed by one or more processors cause the one or more processors to perform a method, the method comprising:
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receiving, by one or more computing devices, data identifying a portion of a lane line detected in a vehicle'"'"'s environment, the data including location coordinates for the portion of the lane line; identifying a corresponding feature for the lane line from pre-stored map information based on the location coordinates and a map location of the corresponding feature, wherein the corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding feature; identifying a tolerance constraint based on the tag identifying the type of the corresponding feature; dividing the portion of the lane line into two or more line segments, each line segment of the two or more line segments having a first position; changing the first position of the one of the two or more line segments to determine a second position of one of the two or more line segments based on the location coordinates and the tolerance constraint, wherein changing the first position includes at least one of shifting in a lateral manner or rotating in an angular manner the first position of the one of the two or more line segments towards a position of a corresponding portion of the curve; determining a value based on a comparison of the first position to the second position, wherein the value indicates a likelihood that the corresponding feature has changed; and using the value to maneuver the vehicle in an autonomous driving mode. - View Dependent Claims (19, 20)
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Specification