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US 9,810,540 B1Granted
Map reports from vehicles in the field
AssigneeWaymo LLC
InventorAndrew Hughes Chatham
Life of this patent
Estimating the term…
Abstract
Aspects of the present disclosure relate generally to systems and methods for assessing validity of a map using image data collected by a laser sensor along a vehicle path. The method may compile image data received from the laser sensor. The map subject to assessment may define an area prohibiting entry by a vehicle.
Claims20
A method for assessing validity of a map, comprising:
- determining, by one or more processors of a vehicle, a plurality of locations of the vehicle along a path traveled by the vehicle, using environmental image data captured by a sensor of the vehicle;
- determining, by the one or more processors, a trajectory of the vehicle based solely on the determined plurality of locations;
- comparing, by the one or more processors, the trajectory with a map of a same area as the trajectory;
- assessing, by the one or more processors, validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;
- maneuvering the vehicle based on the assessed validity of the map;
- and
- transmitting a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.
4 more elements
A system for assessing validity of a map, comprising:
- one or more computing devices having one or more processors;
- and
- memory storing a map associated with a vehicle path and instructions executable by the one or more processors to:
- determine by a vehicle a plurality of locations of the vehicle along a path traveled by the vehicle, using environmental image data captured by a sensor of the vehicle;
- determine a trajectory of the vehicle based solely on the determined plurality of locations;
- compare the trajectory to a map of a same area as the trajectory;
- assess validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;
- maneuver the vehicle based on the assessed validity of the map;
- and
- transmit a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.
7 more elements
A non-transitory computer-readable medium storing instructions, which when executed by a processor, cause the processor to:
- determine by a vehicle a plurality of locations of the vehicle along a path traveled by vehicle, using environmental image data captured by a sensor of the vehicle;
- determine a trajectory of the vehicle based solely on the determined plurality of locations;
- compare the trajectory to the map;
- assess validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;
- maneuver the vehicle based on the assessed validity of the map;
- and
- transmit a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.
4 more elements
Dependencies are inferred from the claim text.