System and method for acceleration-based vector field maps

A non-transitory computer-readable storage medium with an executable computer program stored thereon, the program instructing a processor to:

• receive historical data from one or more autonomous vehicles (AVs) using a transceiver, wherein the historical data includes state estimation information and acceleration information;
• aggregate the historical data received from the one or more AVs, to index one or more acceleration values of the acceleration information to corresponding one or more state values of the state estimation information, to generate aggregated data;
• generate a vector-field map segmented into a plurality of location-based cells based on the aggregated data, the generation of the vector-field map including:
• mapping the one or more acceleration values of the acceleration information to each of the plurality of location-based cells based on the respective one or more state values of the state estimation information;
• and
• processing the mapped one or more acceleration values to generate respective acceleration vectors for the plurality of location-based cells;
• analyze the vector-field map to identify one or more of the acceleration vectors exceeding one or more predetermined threshold values to generate analysis information corresponding to the identified one or more vectors;
• and
• transmit the analysis information to the one or more AVs using the transceiver, wherein at least one of the one or more AVs adapt its operation based on the received analysis information.

An autonomous vehicle (AV), comprising:

• an inertial measurement sensor configured to detect acceleration data of the AV;
• a controller configured to index the detected acceleration data to state estimation information including respective locations at which the acceleration data was detected;
• and
• a transceiver that is configured to:
• transmit the detected acceleration data and corresponding state estimation information to a map generation system;
• and
• receive, from the map generation system, a vector-field map segmented into a plurality of location-based cells, the vector-field map being generated based on the detected acceleration data and the state estimation information, the acceleration data being mapped to a cell of the location-based cells associated with a location corresponding to the state estimation information, wherein each of the cells includes an acceleration vector determined based on the acceleration data and the state estimation information,
• wherein the controller is further configured to control the AV based on the vector-field map.

An autonomous vehicle system, comprising:

• one or more autonomous vehicles (AVs);
• and
• a map generation system that includes a controller configured to:
• aggregate historical data received from the one or more AVs to generate aggregated data, the historical data including state estimation information and acceleration information, wherein the aggregation of the historical data includes indexing one or more acceleration values of the acceleration information to corresponding one or more state values of the state estimation information;
• generate a vector-field map segmented into a plurality of location-based cells based on the aggregated data, the generation of the vector-field map including:
• mapping the one or more acceleration values of the acceleration information to each of the plurality of location-based cells based on the respective one or more state values of the state estimation information;
• and
• processing the mapped one or more acceleration values to generate respective acceleration vectors for the plurality of location-based cells;
• analyze the vector-field map to identify one or more of the acceleration vectors exceeding one or more predetermined threshold values;
• and
• generate analysis information corresponding to the identified one or more vectors and provide the analysis information to the one or more AVs.