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US 2018/0003511 A1Published application
Autonomous vehicle localization using submaps
AssigneeUber Technologies, Inc.
InventorsBrett Browning, Peter Hansen, Ethan Eade, David Prasser, David LaRose, Robert Zlot
Life of this patent
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Abstract
A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.
Claims21
A method for determining a location of a vehicle in motion, the method being implemented by one or more processors and comprising:
- accessing a collection of submaps, each submap of the collection representing an area of a road network for a geographic region;
- wherein each submap of the collection includes a feature set of the area of the road network of that submap;
- when the vehicle traverses on the road network of the geographic region, determining a submap of the collection that corresponds to an area of the road network where the vehicle is located;
- and
- as the vehicle traverses the road network, determining a location of the vehicle within an area of the determined submap, by comparing a set of current sensor data captured by the vehicle traversing the road network against the feature set of the determined submap.
2 more elements
A computer system comprising:
- a memory to store a set of instructions;
- one or more processors to use the set of instructions to:
- access a collection of submaps, each submap of the collection representing an area of a road network for a geographic region;
- wherein each submap of the collection includes a feature set of the area of the road network of that submap;
- when the vehicle traverses on the road network of the geographic region, determine a submap of the collection that corresponds to an area of the road network where the vehicle is located;
- and
- as the vehicle traverses the road network, determining a location of the vehicle within an area of the determined submap, by comparing a set of current sensor data captured by the vehicle traversing the road network against the feature set of the determined submap.
4 more elements
Dependencies are inferred from the claim text.