US 12,710,275 B2Granted

Automated mapping for autonomous vehicle navigation

AssigneeZoox, Inc.

InventorsSamir Chugh, Christopher James Gibson, Byungil Jeong, Timothy Robert Stolzenfeld

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Abstract

Techniques for generating (e.g., creating and/or updating) map data associated with an environment based on sensor data. An example system may determine (e.g., based on the sensor data) and/or receive an indication of a lane boundary associated with a path. The system may determine, based on a set of drivable areas associated with the path, a polygon. The system may determine a representative line associated with the polygon and determine a set of points along the representative line. The system may determine a set of intersections of a set of lines that originate at the set of points and extend laterally from the representative line. The system may determine, based on the set of intersections, a representation of the lane boundary and associate the representation with the map data.

Claims19

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 sensor data associated with a vehicle traversing an environment along a path;
one or more of receiving or determining, based on the sensor data, a lane boundary associated with the path;
determining, based at least in part on a set of drivable areas detected while traversing the path, a polygon;
determining a representative line associated with the polygon;
determining a set of points along the representative line;
determining a set of intersections of a set of lines with the lane boundary, a line of the set of lines originating at a first point of the set of points and extending laterally from the representative line;
determining that the line that intersects with the representative line at a second point and the lane boundary at a third point;
receiving an indication of a user input representing that the line intersects with the lane boundary at a fourth point;
determining, based on the set of intersections and the indication, a representation of the lane boundary;
associating the representation of the lane boundary with a map;
and
providing the map to a second system, wherein the second system is configured to generate a trajectory based on the map and control a movement of the vehicle or a second vehicle based on the trajectory.

12 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 first data associated with a drivable surface associated with a road;
determining, based on the first data, a reference line associated with the drivable surface, wherein the reference line traverses along the road;
determining a line that intersects with the reference line at a first point and a lane boundary at a second point;
receiving an indication of a user input representing that the line intersects with the lane boundary at a third point;
determining, based on the reference line and the indication, a first representation of the lane boundary;
associating the first representation with a map;
and
providing the map to a system configured to generate a trajectory based on the map and control a movement of a vehicle based on the trajectory.

5 more elements

Dependencies are inferred from the claim text.