Alignment of standard-definition and high-defintion maps
AssigneeUshr Inc.
InventorsDavid Keith Johnson, Christopher Ian MacDonald, Shu Yang, Vincent Michael Howard
Life of this patent
Estimating the term…
Abstract
Aspects of the disclosed invention relate to alignment of standard definition (SD) maps and high definition (HD maps) which may come from different sources. Responsive to input of a destination, a route to that destination may be defined, and SD map waypoints generated from that defined route. A graph may be generated from the HD map. The waypoints may be matched with nodes and edges in the graph. One or more edges may constitute a segment in the HD map. A plurality of segments are identified to match the route.
Claims20
A map alignment method in an autonomous driving system, the method comprising:
- responsive to an input of one or more destinations, defining at least one route using waypoints from a standard definition (SD) map containing data for routes;
- generating a graph from a high definition (HD) map containing data to enable the autonomous driving system to monitor vehicle orientation and to correct the orientation, the monitoring and the correcting occurring in real time, the graph related to at least part of the at least one route;
- identifying, from the graph, graph nodes that follow the at least one route;
- converting the waypoints to the graph nodes using the graph;
- generating route segments from the defined at least one route, the identified graph nodes, and the converted waypoints.
A map alignment system in an autonomous driving system, the map alignment system comprising:
- a standard definition (SD) map containing data for routes;
- a high definition (HD) map containing data to enable the autonomous driving system to monitor vehicle orientation and to correct the orientation, the monitoring and the correcting occurring in real time;
- computing equipment configured to:
- define at least one route using waypoints from the SD map in response to an input of one or more destinations;
- generate a graph from the HD map, the graph related to the at least one route;
- identify graph nodes that follow the at least one route;
- convert the waypoints to the graph nodes using the graph;
- and
- generate route segments from the defined at least one route, the identified graph nodes, and the converted waypoints.
A vehicle navigation system in an autonomous vehicle driving system, the vehicle navigation system comprising a map alignment system, wherein the map alignment system comprises:
- a standard definition (SD) map containing data for routes;
- a high definition (HD) map containing data to enable the autonomous driving system to monitor vehicle orientation and to correct the orientation, the monitoring and the correcting occurring in real time;
- computing equipment configured to:
- define at least one route using waypoints from the SD map in response to an input of one or more destinations;
- generate a graph from the HD map, the graph related to the at least one route;
- identify graph nodes that follow the at least one route;
- convert the waypoints to the graph nodes using the graph;
- and
- generate route segments from the defined at least one route, the identified graph nodes, and the converted waypoints.
Dependencies are inferred from the claim text.