Back to results
US 2020/0026722 A1Published application
Autonomous Vehicle Relative Atlas Incorporating Hypergraph Data Structure
AssigneeAurora Operations, Inc.
InventorsEthan Eade, Michael Bode, James Andrew Bagnell
Life of this patent
Estimating the term…
Abstract
A relative atlas graph maintains mapping data used by an autonomous vehicle. The relative atlas graph may be generated for a geographical area based on observations collected from the geographical area, and may include element nodes corresponding to elements detected from the observations along with edges that connect pairs of element nodes and define relative poses between the elements for connected pairs of element nodes, as well as relations that connect multiple element nodes to define logical relationships therebetween.
Claims24
A method comprising:
- receiving a plurality of observations for a geographical area;
- and
- generating, based on the plurality of observations for the geographical area, a relative atlas graph for the geographical area such that an autonomous vehicle is operated autonomously in the geographical area using the relative atlas graph,
- wherein generating the relative atlas graph comprises:
- generating a plurality of element nodes for a plurality of elements detected from the plurality of observations, each generated element node having an associated element from the plurality of elements,
- generating a plurality of edges, each generated edge connecting a pair of element nodes from the plurality of element nodes and defining a relative pose between the associated elements for the pair of element nodes,
- generating a plurality of relations, each generated relation connecting three or more element nodes from the plurality of element nodes and defining a logical relationship among the associated elements for the three or more nodes, and
- storing, in the relative atlas graph, the plurality of element nodes, the plurality of edges, and the plurality of relations.
5 more elements
-5. (canceled)
A method comprising:
- receiving a plurality of observations for a geographical area;
- generating, based on the plurality of observations for the geographical area, a relative atlas graph for the geographical area such that an autonomous vehicle is operated autonomously in the geographical area using the relative atlas graph,
- wherein generating the relative atlas graph comprises:
- generating a plurality of element nodes for a plurality of elements detected from the plurality of observations, each generated element node having an associated element from the plurality of elements,
- generating a plurality of relations, each generated relation connecting two or more element nodes from the plurality of element nodes and defining a logical relationship between the associated elements for the two or more nodes, wherein at least a subset of the plurality of relations connects a pair of element nodes from the plurality of element nodes and defines a relative pose between the associated elements for the pair of element nodes, and
- storing, in the relative atlas graph, the plurality of element nodes and the plurality of relations.
3 more elements
A method comprising:
- determining a vehicle pose for an autonomous vehicle within a geographical area;
- obtaining a plurality of element nodes from a relative atlas graph to identify a plurality of elements in the geographical area;
- obtaining one or more edges from the relative atlas graph to determine one or more relative poses between two or more elements of the plurality of elements in the geographical area, each accessed edge connecting a pair of element nodes from the relative atlas graph and defining a relative pose between the associated elements for the pair of element nodes;
- obtaining one or more relations from the relative atlas graph to determine one or more logical relationships between two or more elements of the plurality of elements in the geographical area, each accessed relation connecting three or more element nodes from the relative atlas graph and defining a logical relationship among the associated elements for the three or more nodes;
- and
- generating a digital map, by laying out the plurality of elements within the digital map based on the determined one or more relative poses and the determined one or more logical relationships, such that the autonomous vehicle is operated autonomously in the geographical area using the digital map.
3 more elements
18-20. (canceled)
(canceled)
-38. (canceled)
Dependencies are inferred from the claim text.