Back to results
US 12,761,029 B2Granted
Mapping and determining scenarios for geographic regions
AssigneeLyft, Inc.
InventorsDavid Tse-Zhou Lu, Asif Haque
Life of this patent
Estimating the term…
Abstract
Systems, methods, and non-transitory computer-readable media can determine sensor data captured by at least one sensor of a vehicle while navigating a road segment. A plurality of features describing the road segment can be extracted from the sensor data. A map representation of the road segment can be determined based at least in part on the sensor data and the plurality of features extracted from the sensor data, the map representation being determined as the vehicle navigates the road segment. While the map representation of the road segment is being determined, at least one scenario associated with the road segment can be determined based at least in part on the map representation and the plurality of features extracted from the sensor data.
Claims19
A computer-implemented method comprising:
- capturing, by a computing system through a sensor of a vehicle traveling through an area, a first image and a second image of the area;
- determining, by a computing system, one or more features of the area based on a first image of the area, the one or more features comprising a plurality of objects captured in the area;
- classifying, by the computing system, a first object of the plurality of objects as a static object and a second object of the plurality of objects as a dynamic object based on changes of the plurality of objects between the first image and a second image of the area;
- determining, by the computing system, one or more map features of the area based on the classified static object, the one or more map features including at least one of:
- road segment boundaries, lane markings, crosswalks, or traffic control elements;
- determining, by the computing system, a scenario for the area based on an observed interaction between the classified dynamic object and the one or more map features, wherein the scenario represents an interaction-based situation associated with the one or more map features;
- storing, by the computing system, the determined scenario for the area and the one or more map features both in storage associated with the vehicle and in a map and scenario information database of a transportation management system by communicating an identification code corresponding to the determined scenario, wherein the computing system and the transportation management system maintain a shared association between predefined scenarios and corresponding identification codes, the transportation management system being configured to interpret the identification code to recognize the determined scenario and to route a fleet of vehicles;
- and
- controlling or navigating, by the computing system, the vehicle based on the determined scenario.
6 more elements
A system comprising:
- at least one processor;
- and
- a memory storing instructions that, when executed, cause the system to perform operations comprising:
- receiving a first image and a second image of an area using a sensor of a vehicle traveling through the area;
- determining one or more features of the area based on a first image of the area, the one or more features comprising a plurality of objects captured in the area;
- classifying a first object of the plurality of objects as a static object and a second object of the plurality of objects as a dynamic object based on changes of the plurality of objects between the first image and a second image of the area;
- determining one or more map features of the area based on the classified static object, the one or more map features including at least one of:
- road segment boundaries, lane markings, crosswalks, or traffic control elements;
- determining a scenario for the area based on an observed interaction between the classified dynamic object and the one or more map features, wherein the scenario represents an interaction-based situation associated with the one or more map features;
- storing the determined scenario for the area and the one or more map features both in storage associated with the vehicle and in a map and scenario information database of a transportation management system by communicating an identification code corresponding to the determined scenario, wherein the system and the transportation management system maintain a shared association between predefined scenarios and corresponding identification codes, the transportation management system being configured to interpret the identification code to recognize the determined scenario and to route a fleet of vehicles;
- and
- controlling or navigating the vehicle based on the determined scenario.
9 more elements
A non-transitory computer-readable storage medium including instructions that, when executed, cause a computing system to perform operations comprising:
- receiving a first image and a second image of an area using a sensor of a vehicle traveling through the area;
- determining one or more features of the area based on a first image of the area, the one or more features comprising a plurality of objects captured in the area;
- classifying a first object of the plurality of objects as a static object and a second object of the plurality of objects as a dynamic object based on changes of the plurality of objects between the first image and a second image of the area;
- determining one or more map features of the area based on the classified static object, the one or more map features including at least one of:
- road segment boundaries, lane markings, crosswalks, or traffic control elements;
- determining a scenario for the area based on an observed interaction between the classified dynamic object and the one or more map features, wherein the scenario represents an interaction-based situation associated with the one or more map features;
- storing the determined scenario for the area and the one or more map features both in storage associated with the vehicle and in a map and scenario information database of a transportation management system by communicating an identification code corresponding to the determined scenario, wherein the computing system and the transportation management system maintain a shared association between predefined scenarios and corresponding identification codes, the transportation management system being configured to interpret the identification code to recognize the determined scenario and to route a fleet of vehicles;
- and
- controlling or navigating the vehicle based on the determined scenario.
6 more elements
Dependencies are inferred from the claim text.