Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that create lane graph geometries from lane graph topologies. One of the methods includes receiving data representing a topological lane path through a plurality of cells of a drivable region. From the topological lane path, an initial polyline that traverses the same plurality of cells as the topological lane path can be generated. The initial polyline can be defined by vertices located on edges of a triangulated decomposition of the drivable region. A geometry optimization process can be performed on the initial polyline to generate a final polyline according to optimization criteria. From the final polyline, a geometric lane path representing a geometry of a drivable lane that traverses the drivable region can be generated.
LANE SEARCH FOR SELF-DRIVING VEHICLES
SPURSUCHE FÜR SELBSTFAHRENDE FAHRZEUGE
RECHERCHE DE VOIE POUR VÉHICULES AUTONOMES
18.09.2024
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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