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US 11,636,693 B2Granted
Robust lane-boundary association for road map generation
AssigneeQUALCOMM Incorporated
InventorsUrs Niesen, Muryong Kim, Jubin Jose
Life of this patent
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Abstract
Association algorithms of newly-detected lane boundaries to lane boundaries can be made more robust through the use of generated or “dummy” states. Different types of dummy states can be used to identify outlier/erroneous detections and/or new, legitimate lane boundaries. Therefore, depending on a type of dummy state a newly-detected lane boundary is associated with, the newly-detected lane boundary can be ignored, or the associated dummy state can be added to the lane boundary states of the filter.
Claims30
A method of associating lane boundary measurements to lane boundary states, the method comprising:
- obtaining, at a vehicle on a road, a lane boundary measurement indicative of a detected candidate lane boundary along a portion of the road;
- determining a degree of similarity between the lane boundary measurement and each of a plurality of states, wherein the plurality of states comprises:
- one or more lane boundary states descriptive of a respective one or more lane boundaries of the road, and
- one or more generated states, wherein the one or more generated states are generated for determining the degree of similarity;
- associating the lane boundary measurement with an associated state, wherein:
- the associated state comprises one of the one or more generated states, and
- the associating is based on the determined degree of similarity between the lane boundary measurement and the associated state;
- and
- responsive to the associating:
- adding the associated state to the one or more lane boundary states, or
- disregarding the lane boundary measurement.
8 more elements
A device comprising:
- a memory;
- sensors;
- and
- one or more processing units communicatively coupled with the sensors and the memory, the one or more processing units configured to:
- obtain a lane boundary measurement indicative of a detected candidate lane boundary along a portion of a road on which a vehicle is located;
- determine a degree of similarity between the lane boundary measurement and each of a plurality of states, wherein the plurality of states comprises:
- one or more lane boundary states descriptive of a respective one or more lane boundaries of the road, and
- one or more generated states, wherein the one or more generated states are generated for determining the degree of similarity;
- associate the lane boundary measurement with an associated state, wherein:
- the associated state comprises one of the one or more generated states, and
- the associating is based on the determined degree of similarity between the lane boundary measurement and the associated state;
- and
- responsive to the associating:
- add the associated state to the one or more lane boundary states, or disregard the lane boundary measurement.
11 more elements
A device comprising:
- means for obtaining a lane boundary measurement indicative of a detected candidate lane boundary along a portion of a road on which a vehicle is located;
- means for determining a degree of similarity between the lane boundary measurement and each of a plurality of states, wherein the plurality of states comprises:
- one or more lane boundary states descriptive of a respective one or more lane boundaries of the road, and
- one or more generated states, wherein the one or more generated states are generated for determining the degree of similarity;
- means for associating the lane boundary measurement with an associated state, wherein:
- the associated state comprises one of the one or more generated states, and
- the associating is based on the determined degree of similarity between the lane boundary measurement and the associated state;
- and
- means for performing, in response to the associating,
- adding the associated state to the one or more lane boundary states, or
- disregarding the lane boundary measurement.
8 more elements
A non-transitory computer-readable medium storing instructions for associating lane boundary measurements to lane boundary states, the instructions comprising code for:
- obtaining, at a vehicle on a road, a lane boundary measurement indicative of a detected candidate lane boundary along a portion of the road;
- determining a degree of similarity between the lane boundary measurement and each of a plurality of states, wherein the plurality of states comprises:
- one or more lane boundary states descriptive of a respective one or more lane boundaries of the road, and
- one or more generated states, wherein the one or more generated states are generated for determining the degree of similarity;
- associating the lane boundary measurement with an associated state, wherein:
- the associated state comprises one of the one or more generated states, and
- the associating is based on the determined degree of similarity between the lane boundary measurement and the associated state;
- and
- responsive to the associating:
- adding the associated state to the one or more lane boundary states, or disregarding the lane boundary measurement.
7 more elements
Dependencies are inferred from the claim text.