# US 12,110,035 B2 · Map based annotation for autonomous movement models training > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,035 B2 - Document ID: US12110035B2 - Status: Granted - Kind: B2 - Application number: 18/052,922 - Filed: 2022-11-06 - Published: 2024-05-09 - Granted: 2024-10-08 - Earliest claimed: 2022-11-06 - Assignees: Imagry (Israel) Ltd. - Applicants: Imagry Israel Ltd. - Inventors: Khaled Fahoum; Suhail Habib; Ilan Shaviv - Web page: https://patentgrep.com/patent/US12110035B2 ## CPC - B60W 50/06: Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot - B60W 50/0097: {Predicting future conditions} - B60W 60/00: Drive control systems specially adapted for autonomous road vehicles - B60W 60/001: {Planning or execution of driving tasks} - G05B 13/048: {using a predictor} - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/20: Static objects - B60W 2554/404: Characteristics - B60W 2554/4042: Longitudinal speed - B60W 2554/4045: Intention, e.g. lane change or imminent movement - B60W 2556/40: High definition maps - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A method, an apparatus and a computer program product for enhancing training of autonomous movement models based on map-based annotations. The method comprises augmenting an original training set with map based annotated modified scenarios at least one of which affects a path and at least one of which does not affect a path. The method comprises generating modified driving scenarios introducing a synthetic path altering object into the functional map representing the original movement or driving scenario, that induces a driving path that is different than the original path; and other modified driving scenarios that introduce a path non-altering object into the functional map of the original scenario, that the original path is applicable therein. An autonomous driving model for predicting driving path within a road segment based on a functional map representation is trained using the modified driving scenarios. ## Claims ### Claim 1 A method comprising: obtaining a first driving scenario, wherein the first driving scenario comprises a first functional map comprising at least a representation of a first non-synthetic static topology of a first road segment, whereby defining a first original driving path of a vehicle driving in the first road segment; receiving a first modified driving scenario and a first driving path, wherein the first driving path is applicable within the first modified driving scenario, wherein the first modified driving scenario is defined based on the first driving scenario, wherein the first modified driving scenario introduces a path altering object into the first functional map, wherein the path altering object is a synthetic object, wherein the path altering object induces the first driving path that is different than the first original driving path; obtaining a second driving scenario, wherein the second driving scenario comprises a second functional map comprising at least a representation of a second non-synthetic static topology of a second road segment, whereby defining a second original driving path of a vehicle driving in the second road segment; receiving a second modified driving scenario, wherein the second modified driving scenario introduces a path non-altering object into the second functional map, wherein the path non-altering object is a synthetic object, whereby the second original driving path is applicable in the second modified driving scenario; training an autonomous driving model, wherein the autonomous driving model is configured to provide a predicted driving path within a road segment based on a functional map representation of the road segment, wherein said training comprises: indicating to the autonomous driving model that the first driving path is applicable to the first modified driving scenario; and indicating to the autonomous driving model that the second original driving path is applicable to the second modified driving scenario, whereby augmenting an original training set with map based annotated modified scenarios at least one of which affects a driving path and at least one of which does not affect a driving path. ### Claim 2 (depends on 1) The method of claim 1 further comprises utilizing the autonomous driving model by an autonomous vehicle to determine a driving route in real-time. ### Claim 3 (depends on 1) The method of claim 1, wherein the first non-synthetic static topology comprises at least one of: a road layer; a stop lines layer; a lane dividers layer; a signs layer; and a speed bumps layer. ### Claim 4 (depends on 1) The method of claim 1, wherein the first functional map comprises at least one of: a static object layer representing static objects potentially physically blocking a path of the vehicle; a dynamic object layer representing dynamic objects with a movement vector, potentially colliding with the vehicle; and an occlusion layer representing one or more occluded sections within the first road segment. ### Claim 5 (depends on 1) The method of claim 1, wherein the path altering object is a dynamic object having a syntactically defined movement vector, whereby the syntactically defined movement vector interfering with the first original driving path. ### Claim 6 (depends on 1) The method of claim 1, wherein the path altering object is a static object having a syntactically defined location within the first road segment, whereby the static object creating a physical interference reducing advisability of using the first original driving path. ### Claim 7 (depends on 1) The method claim 1, wherein the path altering object is a modification to the first non-synthetic static topology that reduces advisability of using the first original driving path. ### Claim 8 (depends on 1) The method of claim 1, wherein the path altering object and the path non-altering object are identical. ### Claim 9 (depends on 1) The method of claim 1, further comprises: receiving a third modified driving scenario and a third driving path, wherein the third driving path is applicable within the third modified driving scenario, wherein the third modified driving scenario is defined based on the third driving scenario, wherein the third modified driving scenario introduces a third path altering object into the first functional map, wherein the third path altering object is a synthetic object, wherein the third path altering object induces the third driving path that is different than the first original driving path and the first driving path; wherein said training further comprises: indicating to the autonomous driving model that the third driving path is applicable to the third modified driving scenario. ### Claim 10 (depends on 1) The method of claim 1, further comprises: receiving a third modified driving scenario, wherein the third modified driving scenario introduces a third path non-altering object into the first functional map, wherein the third path non-altering object is a synthetic object, wherein a type of the third path non-altering object is similar to a type of the path altering object, whereby the first original driving path is applicable in the third modified driving scenario; wherein said training further comprises: indicating to the autonomous driving model that the first original driving path is applicable to the third modified driving scenario. ### Claim 11 (depends on 10) The method of claim 10, wherein the third path non-altering object is identical to the path altering object, wherein a location of the third path non-altering object within the first functional map is different than a location of the path altering object within the first functional map. ### Claim 12 (depends on 1) The method of claim 1, wherein the first functional map further comprises a layer representing driving information of the vehicle in a most recent timeframe. ### Claim 13 (depends on 1) The method of claim 1, wherein the functional map representation of the road segment comprises an aggregated decision layer representing possible direction of applicable driving paths, wherein the aggregated decision layer comprises at least one of: a straight label, a left label and an all-paths label. ### Claim 14 (depends on 1) The method of claim 1, wherein the functional map representation represents an aggregation of multiple driving scenarios associated with the road segment. ### Claim 15 A computerized apparatus having a processor, the processor being adapted to perform the steps of: obtaining a first driving scenario, wherein the first driving scenario comprises a first functional map comprising at least a representation of a first non-synthetic static topology of a first road segment, whereby defining a first original driving path of a vehicle driving in the first road segment; receiving a first modified driving scenario and a first driving path, wherein the first driving path is applicable within the first modified driving scenario, wherein the first modified driving scenario is defined based on the first driving scenario, wherein the first modified driving scenario introduces a path altering object into the first functional map, wherein the path altering object is a synthetic object, wherein the path altering object induces the first driving path that is different than the first original driving path; obtaining a second driving scenario, wherein the second driving scenario comprises a second functional map comprising at least a representation of a second non-synthetic static topology of a second road segment, whereby defining a second original driving path of a vehicle driving in the second road segment; receiving a second modified driving scenario, wherein the second modified driving scenario introduces a path non-altering object into the second functional map, wherein the path non-altering object is a synthetic object, whereby the second original driving path is applicable in the second modified driving scenario; training an autonomous driving model, wherein the autonomous driving model is configured to provide a predicted driving path within a road segment based on a functional map representation of the road segment, wherein said training comprises: indicating to the autonomous driving model that the first driving path is applicable to the first modified driving scenario; and indicating to the autonomous driving model that the second original driving path is applicable to the second modified driving scenario, whereby augmenting an original training set with map based annotated modified scenarios at least one of which affects a driving path and at least one of which does not affect a driving path. ### Claim 16 A computer program product comprising a non-transitory computer readable storage medium retaining program instructions, which program instructions when read by a processor, cause the processor to perform a method comprising: obtaining a first driving scenario, wherein the first driving scenario comprises a first functional map comprising at least a representation of a first non-synthetic static topology of a first road segment, whereby defining a first original driving path of a vehicle driving in the first road segment; receiving a first modified driving scenario and a first driving path, wherein the first driving path is applicable within the first modified driving scenario, wherein the first modified driving scenario is defined based on the first driving scenario, wherein the first modified driving scenario introduces a path altering object into the first functional map, wherein the path altering object is a synthetic object, wherein the path altering object induces the first driving path that is different than the first original driving path; obtaining a second driving scenario, wherein the second driving scenario comprises a second functional map comprising at least a representation of a second non-synthetic static topology of a second road segment, whereby defining a second original driving path of a vehicle driving in the second road segment; receiving a second modified driving scenario, wherein the second modified driving scenario introduces a path non-altering object into the second functional map, wherein the path non-altering object is a synthetic object, whereby the second original driving path is applicable in the second modified driving scenario; training an autonomous driving model, wherein the autonomous driving model is configured to provide a predicted driving path within a road segment based on a functional map representation of the road segment, wherein said training comprises: indicating to the autonomous driving model that the first driving path is applicable to the first modified driving scenario; and indicating to the autonomous driving model that the second original driving path is applicable to the second modified driving scenario, whereby augmenting an original training set with map based annotated modified scenarios at least one of which affects a driving path and at least one of which does not affect a driving path.