Systems and methods for lateral position-based trace clustering
AssigneeToyota Jidosha Kabushiki Kaisha
InventorAlexander Christoph Schaefer
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Abstract
Systems, methods, and other embodiments described herein relate to generating driving trajectories for routes along a road based on vehicle traces through lane gates. In one embodiment, a method includes generating a network of lane gates across a representation of a road. The method also includes, for a target lane gate, 1) clustering vehicle traces passing through the target lane gate based on a trace lateral position at the target lane gate and 2) placing a node for a cluster on the target lane gate at a representative lateral position for the cluster. The method also includes generating a driving trajectory for a path by connecting nodes on adjacent lane gates that share a vehicle trace.
Claims18
A system, comprising:
- a processor;
- and
- a memory storing machine-readable instructions that, when executed by the processor, cause the processor to:
- generate a network of lane gates across a representation of a road, the lane gates being positioned at successive locations along a path;
- for each of at least some target lane gates in the network:
- form clusters of vehicle traces passing through the target lane gate, each cluster based on a proximity of trace lateral positions at the target lane gate;
- and
- for at least some of the clusters, place a node on the target lane gate at a representative lateral position for the cluster;
- and
- generate a driving trajectory for the path by identifying a given vehicle trace that traverses a sequence of adjacent target lane gates and only connecting nodes on the adjacent target lane gates that a correspond to a cluster that includes the given vehicle trace.
A non-transitory machine-readable medium comprising instructions that, when executed by a processor, cause the processor to:
- generate a network of lane gates across a representation of a road, the lane gates being positioned at successive locations along a path;
- for each of at least some target lane gates in the network:
- form clusters of vehicle traces passing through the target lane gate, each cluster based on a proximity of trace lateral positions at the target lane gate;
- and
- for at least some of the clusters, place a node on the target lane gate at a representative lateral position for the cluster;
- and
- generate a driving trajectory for the path by identifying a given vehicle trace that traverses a sequence of adjacent target lane gates and only connecting nodes on the adjacent target lane gates that a correspond to a cluster that includes the given vehicle trace.
A method, comprising:
- generating a network of lane gates across a representation of a road, the lane gates being positioned at successive locations along a path;
- for each of at least some target lane gates in the network:
- forming clusters of vehicle traces passing through the target lane gate based on a proximity of trace lateral positions at the target lane gate;
- and
- for at least some of the clusters, placing a node on the target lane gate at a representative lateral position for the cluster;
- and
- generating a driving trajectory for the path by identifying a given vehicle trace that traverses a sequence of adjacent target lane gates and only connecting nodes on the adjacent target lane gates that correspond to a cluster that includes the given vehicle trace.
Dependencies are inferred from the claim text.