US 12,600,367 B1Granted

Determining point locations based on road segment approximations

AssigneeZoox, Inc.

InventorsLakshay Garg, Joona Markus Petteri Kiiski

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Abstract

Techniques for transforming an object location from a first frame of reference to a route-relative frame of reference. A road management component may receive sensor data captured from sensor devices of a vehicle. The road management component may analyze the sensor data to determine a location of an object within the environment. The road management component may utilize a discretized map to determine a cell associated with the object location. Upon identifying the cell within which the object is located, the road management component may receive the list of road segments which may be proximate to the object. In such instances, the road management component may determine to which of the segments from the list of road segments the object is proximate. The road management component may determine how far along the reference line the object is positioned and/or how far away from the reference line the object is positioned.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving, from a sensor device associated with a vehicle, sensor data associated with an environment;
detecting, based at least in part on the sensor data, an object in the environment;
determining a location of the object within the environment, the location being defined in a first coordinate system;
determining, based at least in part on the location, that the object is located within a cell of discretized map data;
receiving a candidate road associated with the cell, wherein the candidate road includes a segment;
determining that the object is associated with the segment;
receiving, from the cell and based at least in part on determining that the object is associated with the segment, an approximation of the segment, wherein the approximation is determined at a previous time;
determining, as a set of coordinates in a second coordinate system, a first distance relative to the object from a first point along the approximation and a second distance of the object relative to a second point along the approximation;
and
controlling the vehicle based at least in part on the first distance and the second distance.

10 more elements

One or more non transitory computer readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

receiving sensor data associated with an environment;
detecting, based at least in part on the sensor data, an object in the environment;
determining a location of the object within the environment;
determining, based at least in part on the location, that the object is located within a cell of discretized map data;
receiving a candidate road associated with the cell, wherein the candidate road includes a segment;
determining that the object is associated with the segment;
receiving, from the cell and based at least in part on the object being associated with the segment, an approximation of the segment, wherein the approximation is determined at a previous time;
determining a first distance relative to the object from a first point along the approximation and a second distance of the object relative to a second point along the approximation;
and
controlling a vehicle based at least in part on the first distance and the second distance.

7 more elements

A method comprising:

receiving sensor data associated with an environment;
detecting, based at least in part on the sensor data, an object in the environment;
determining a location of the object within the environment;
determining, based at least in part on the location, that the object is located within a cell of discretized map data;
receiving a candidate road associated with the cell, wherein the candidate road includes a segment;
determining that the object is associated with the segment;
receiving, from the cell and based at least in part on the object being associated with the segment, an approximation of the segment, wherein the approximation is determined at a previous time;
determining a first distance relative to the object from a first point along the approximation and a second distance of the object relative to a second point the approximation;
and
controlling a vehicle based at least in part on the first distance and the second distance.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/112,231Filed 21 Feb 2023
Granted: 14 Apr 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification14 codes

B60W 50/06
Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or…
G01C 21/30
With correlation of data from several navigational instruments: map- or contour-matching
B60W 30/09
Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences: taking automatic action…
B60W 60/001
Drive control systems specially adapted for autonomous road vehicles: planning or execution of driving tasks

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