Validating road intersections
AssigneeWaymo LLC
InventorMichael Montemerlo
Life of this patent
Estimating the term…
Abstract
Methods, systems, and techniques for validating road intersections are presented. The method includes receiving annotated intersection data that, for each lane of a particular candidate intersection, indicates one or more attributes of the lane; processing the annotated intersection data to generate an intersection fingerprint for the particular candidate intersection that is sensitive to a topological structure of the lanes of the particular candidate intersection and is invariant to a geometry of the lanes of the particular candidate intersection; designating the particular candidate intersection as validated without performing the one or more quality control processes based at least on the intersection fingerprint; and storing a representation of the particular candidate intersection in the roadgraph.
Claims20
A computer-implemented method comprising:
- receiving, by a system that comprises (i) one or more databases that store a roadgraph for use by a vehicle navigation system, and (ii) a roadgraph manager that causes representations of validated, candidate intersections to be stored in the roadgraph, annotated intersection data representative of one or more attributes of each lane of a plurality of lanes of a particular candidate intersection;
- processing, by the system, the annotated intersection data to generate an intersection fingerprint for the particular candidate intersection, the intersection fingerprint being representative of a topological structure of the plurality of lanes of the particular candidate intersection;
- designating, by the system, the particular candidate intersection as validated based at least on comparing the intersection fingerprint for the particular candidate intersection with one or more previously validated intersection templates;
- and
- in response to designating the particular candidate intersection as validated, storing, by the system, a representation of the particular candidate intersection in the roadgraph for use by the vehicle navigation system.
A system comprising:
- one or more processing devices and one or more storage devices storing instructions that are operable, when executed by the one or more processing devices, to cause the one or more processing devices to perform operations comprising:
- receiving, by the one or more processing devices, annotated intersection data representative of one or more attributes of each lane of a plurality of lanes of a particular candidate intersection;
- processing, by the one or more processing devices, the annotated intersection data to generate an intersection fingerprint for the particular candidate intersection, the intersection fingerprint being representative of a topological structure of the plurality of lanes of the particular candidate intersection;
- designating, by the one or more processing devices, the particular candidate intersection as validated based at least on comparing the intersection fingerprint for the particular candidate intersection with one or more previously validated intersection templates;
- and
- in response to designating the particular candidate intersection as validated, storing, by the one or more processing devices, a representation of the particular candidate intersection in a roadgraph for use by a vehicle navigation system.
One or more computer-readable storage media storing a computer program, the computer program comprising instructions that when executed by one or more processing devices cause the one or more processing devices to perform operations comprising:
- receiving, by the one or more processing devices, annotated intersection data representative of one or more attributes of each lane of a plurality of lanes of a particular candidate intersection;
- processing, by the one or more processing devices, the annotated intersection data to generate an intersection fingerprint for the particular candidate intersection, the intersection fingerprint being representative of a topological structure of the plurality of lanes of the particular candidate intersection;
- designating, by the one or more processing devices, the particular candidate intersection as validated based at least on comparing the intersection fingerprint for the particular candidate intersection with one or more previously validated intersection templates;
- and
- in response to designating the particular candidate intersection as validated, storing, by the one or more processing devices, a representation of the particular candidate intersection in a roadgraph for use by a vehicle navigation system.
Dependencies are inferred from the claim text.