High definition map metadata for autonomous vehicles
AssigneeTom Tom Global Content B.V.
InventorsMartijn Franciscus Rosalia Mortier, Krzysztof Miksa, Filip Ballegeer, Cornelis Pieter Schuerman, Michal Dominik Rosikiewicz
Life of this patent
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Abstract
Disclosed herein is a technique for generating and providing an indication to an autonomous vehicle regarding the confidence level for the accuracy or quality of the map data in which the indication is determined from observation data received from other vehicles.
Claims28
A computer-implemented method at a server system, the server system storing high definition (HD) map data representing a road system having a plurality of objects, the HD map data comprising a plurality of map features representing the plurality of objects of the road system, the server system further storing HD map metadata, the metadata comprising levels of confidence in the HD map data for the plurality of map features, the level of confidence for each map feature among the plurality of map features indicating a respective level of confidence of the server system in values of one or more attributes of that map feature in the HD map data, the method comprising:
- receiving observational data for the road system, the observational data comprising one or more observations of the road system;
- identifying one or more objects of the plurality of objects associated with the observational data;
- identifying one or more map features of the HD map data corresponding to the one or more objects of the road system;
- based on the observational data, generating updated metadata for the identified one or more map features to indicate updated levels of confidence in the identified one or more map features, the updated levels of confidence being updated relative to the respective levels of confidence for the identified one or more map features in the HD map metadata;
- and
- providing the updated metadata from the server system to an autonomous vehicle for use by an automated driving system of the autonomous vehicle to update HD map metadata stored in the autonomous vehicle and to control one or more maneuvering operations of the autonomous vehicle while the autonomous vehicle maneuvers in the road system, wherein the updated metadata is provided to the autonomous vehicle independently from provision of the HD map data from the server system to the autonomous vehicle.
A server system, comprising:
- a memory having stored therein high definition (HD) map data representing a road system having a plurality of objects, the HD map data comprising a plurality of map features representing the plurality of objects of the road system, the server system further storing HD map metadata, the metadata comprising levels of confidence in the HD map data for the plurality of map features, the level of confidence for each map feature among the plurality of map features indicating a respective level of confidence of the server system in values of one or more attributes of that map feature in the HD map data;
- and
- one or more processors configured to:
- receive observational data for the road system, the observational data comprising one or more observations of the road system;
- identify one or more objects of the plurality of objects associated with the observational data;
- identify one or more map features of the HD map data corresponding to the one or more objects of the road system;
- based on the observational data, generate updated metadata for the identified one or more map features to indicate updated levels of confidence in the identified one or more map features, the updated levels of confidence being updated relative to the respective levels of confidence for the identified one or more map features in the HD map metadata;
- and
- provide the updated metadata from the server system to an autonomous vehicle for use by an automated driving system of the autonomous vehicle to update HD map metadata stored in the autonomous vehicle and to control one or more maneuvering operations of the autonomous vehicle while the autonomous vehicle maneuvers in the road system, wherein the updated metadata is provided to the autonomous vehicle independently from provision of the HD map data from the server system to the autonomous vehicle.
A non-transitory computer readable medium storing instructions that, when executed by one or more processors in a server system having stored therein high definition (HD) map data representing a road system having a plurality of objects, the HD map data comprising a plurality of map features representing the plurality of objects of the road system, the server system further storing HD map metadata, the metadata comprising levels of confidence in the HD map data for the plurality of map features, the level of confidence for each map feature among the plurality of map features indicating a respective level of confidence of the server system in values of one or more attributes of that map feature in the HD map data, cause the one or more processors to perform a method comprising:
- receiving observational data for the road system, the observational data comprising one or more observations of the road system;
- identifying one or more objects of the plurality of objects associated with the observational data;
- identifying one or more map features of the HD map data corresponding to the one or more objects of the road system;
- based on the observational data, generating updated metadata for the identified one or more map features to indicate updated levels of confidence in the identified one or more map features, the updated levels of confidence being updated relative to the respective levels of confidence for the identified one or more map features in the HD map metadata;
- and
- providing the updated metadata from the server system to an autonomous vehicle for use by an automated driving system of the autonomous vehicle to update HD map metadata stored in the autonomous vehicle and to control one or more maneuvering operations of the autonomous vehicle while the autonomous vehicle maneuvers in the road system, wherein the updated metadata is provided to the autonomous vehicle independently from provision of the HD map data from the server system to the autonomous vehicle.
A computer-implemented method at a client computer system in an autonomous vehicle, the client computer system comprising an automated driving system, the client computer system storing high definition (HD) map data representing a road system having a plurality of objects, the HD map data comprising a plurality of map features representing the plurality of objects of the road system, the client computer system further storing HD map metadata, the metadata comprising levels of confidence in the HD map data for the plurality of map features, the level of confidence for each map feature among the plurality of map features indicating a respective level of confidence of a server system that provides the HD map data to the client computer system in values of one or more attributes of that map feature in the HD map data, the method comprising:
- receiving updated metadata for one or more map features of the plurality of map features of the HD map data from the server system, wherein the updated metadata is received independently from receipt of the HD map data from the server system, and wherein the updated metadata comprises, for each of the one or more map features, a respective level of confidence of the server system in values of one or more attributes of the map feature;
- processing the updated metadata to update the HD map metadata stored at the client computer system;
- and
- controlling, by the automated driving system, and based on the updated HD map metadata stored at the client computer system, one or more maneuvering operations of the autonomous vehicle while the autonomous vehicle maneuvers in the road system.
A client computer system comprising:
- an automated driving system;
- a memory that stores high definition (HD) map data representing a road system having a plurality of objects, the HD map data comprising a plurality of map features representing the plurality of objects of the road system, the client computer system further storing HD map metadata, the metadata comprising levels of confidence in the HD map data for the plurality of map features, the level of confidence for each map feature among the plurality of map features indicating a respective level of confidence of a server system that provides the HD map data to the client computer system in values of one or more attributes of that map feature in the HD map data;
- and
- one or more processors configured to:
- receive updated metadata for one or more map features of the plurality of map features of the HD map data from the server system, wherein the updated metadata is received independently from receipt of the HD map data from the server system, and wherein the updated metadata comprises, for each of the one or more map features, a respective level of confidence of the server system in values of one or more attributes of the map feature;
- process the updated metadata to update the HD map metadata stored at the client computer system;
- and
- control, by the automated driving system, and based on the updated HD map data metadata stored at the client computer system, one or more maneuvering operations of an autonomous vehicle while the autonomous vehicle maneuvers in the road system.
A non-transitory computer readable medium storing instructions that, when executed by one or more processors in a client computer system in an autonomous vehicle, the client computer system comprising an automated driving system, the client computer system storing high definition (HD) map data representing a road system having a plurality of objects, the HD map data comprising a plurality of map features representing the plurality of objects of the road system, and the client computer system further storing HD map metadata, the metadata comprising levels of confidence in the HD map data for the plurality of map features, the level of confidence for each map feature among the plurality of map features indicating a respective level of confidence of a server system that provides the HD map data to the client computer system in values of one or more attributes of that map feature in the HD map data, cause the one or more processors to perform a method comprising:
- receiving updated metadata for one or more map features of the plurality of map features of the HD map data from the server system, wherein the updated metadata is received independently from receipt of the HD map data from the server system, and wherein the updated metadata comprises, for each of the one or more map features, a respective level of confidence of the server system in values of one or more attributes of the map feature;
- processing the updated metadata to update the HD map metadata stored at the client computer system;
- and
- controlling, by the automated driving system, and based on the updated HD map metadata stored at the client computer system, one or more maneuvering operations of the autonomous vehicle while the autonomous vehicle maneuvers in the road system.
Dependencies are inferred from the claim text.