Methods and systems for generating a high-definition map using a knowledge-enhanced graph-transformer network

A system comprising:

• one or more processors;
• and
• a memory storing machine-executable instructions which, when executed by the one or more processors, cause the system to:
• obtain road topology data corresponding to a vehicle environment, and a set of defined rules for interactions between road elements in the vehicle environment;
• receive, from one or more vehicle sensors, instance information corresponding to object instances in the vehicle environment;
• generate at least one initial graph representation of the vehicle environment, based on the road topology data, the set of defined rules and instance features extracted from the instance information;
• generate a high-definition (HD) map of the vehicle environment, based on the instance features and the at least one initial graph representation;
• and
• provide the HD map to a controller of an autonomous vehicle, to cause the controller to automatically control an action of the autonomous vehicle, based on the HD map.

A non-transitory computer-readable medium having machine-executable instructions stored thereon, the machine-executable instructions, when executed by a processor of a device, cause the device to:

• obtain road topology data corresponding to a vehicle environment, and a set of defined rules for interactions between road elements in the vehicle environment;
• receive, from one or more vehicle sensors, instance information corresponding to object instances in the vehicle environment;
• generate at least one initial graph representation of the vehicle environment, based on the road topology data, the set of defined rules and instance features extracted from the instance information;
• generate a high-definition (HD) map of the vehicle environment, based on the instance features and the at least one initial graph representation;
• and
• provide the HD map to a controller of an autonomous vehicle, to cause the controller to automatically control an action of the autonomous vehicle, based on the HD map.