System and method for generating three-dimensional meshes of roads and road graphs
AssigneeToyota Jidosha Kabushiki Kaisha
InventorAlexander C. Schaefer
Life of this patent
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Abstract
Systems and methods for generating three-dimensional meshes that represent road surfaces of a road network are disclosed herein. In one example, a system includes a processor and a memory having instructions that, when executed by the processor, cause the processor to generate a three-dimensional mesh representing road surfaces of a road network using a connection graph, a separation graph, and drivable surface polygons representing drivable surfaces of the road and generate a road graph for an electronic map based on the three-dimensional mesh, wherein the road graph is a digital representation of a topology of a road network.
Claims15
A system comprising:
- a processor;
- a memory having an instruction module including instructions that, when executed by the processor, cause the processor to:
- generate a three-dimensional mesh representing road surfaces of a road using a connection graph, a separation graph, and drivable surface polygons representing drivable surfaces of the road, the connection graph indicates which overlapping polygons of the drivable surface polygons represent the road surfaces that are accessible to each other and the separation graph indicates which of the overlapping polygons of the drivable surface polygons represent the road surfaces that are not accessible to each other;
- and
- generate a road graph for an electronic map based on the three-dimensional mesh, the road graph being a digital representation of a topology of a road network, wherein an autonomous driving system of a vehicle performs autonomous driving using the electronic map at least partially disposed of in one or more systems of the vehicle.
A method comprising:
- generating a three-dimensional mesh representing road surfaces of a road using a connection graph, a separation graph, and drivable surface polygons representing drivable surfaces of the road, the connection graph indicates which overlapping polygons of the drivable surface polygons represent the road surfaces that are accessible to each other and the separation graph indicates which of the overlapping polygons of the drivable surface polygons represent the road surfaces that are not accessible to each other;
- generating a road graph for an electronic map based on the three-dimensional mesh, the road graph being a digital representation of a topology of a road network;
- and
- performing autonomous driving of a vehicle using the electronic map.
A non-transitory computer-readable medium including instructions that, when executed by a processor, cause the processor to:
- generate a three-dimensional mesh representing road surfaces of a road using a connection graph, a separation graph, and drivable surface polygons representing drivable surfaces of the road, the connection graph indicates which overlapping polygons of the drivable surface polygons represent the road surfaces that are accessible to each other and the separation graph indicates which of the overlapping polygons of the drivable surface polygons represent the road surfaces that are not accessible to each other, and
- generate a road graph for an electronic map based on the three-dimensional mesh, the road graph being a digital representation of a topology of a road network, the electronic map being at least partially disposed of in one or more systems of a vehicle, wherein an autonomous driving system of the vehicle performs autonomous driving using the electronic map.
Dependencies are inferred from the claim text.