Disclosed herein are methods and systems for using prior maps for estimation of lane boundaries or other features within an environment. An example method may include receiving a location of a plurality of detected points on a roadway in an environment of an autonomous vehicle, determining, from a prior map of the roadway, a location of a plurality of reference points from a boundary marker on the roadway that correspond to the detected points on the roadway, determining distances between the detected points and the corresponding reference points based on the location of the detected points in the environment and the location of the reference points from the prior map of the roadway, determining a confidence buffer representing a threshold amount of variation associated with the prior map based at least in part on the distances between the detected points and the corresponding reference points, selecting one or more of the detected points such that the distance between a selected detected point and a corresponding reference point is less than the confidence buffer, and using the selected points to direct the autonomous vehicle along the roadway.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Use of prior maps for estimation of lane boundaries


    Beteiligte:

    Erscheinungsdatum :

    2016-04-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    Use of Prior Maps for Estimation of Lane Boundaries

    FERGUSON DAVID IAN / SILVER DAVID HARRISON | Europäisches Patentamt | 2016

    Freier Zugriff

    Use of prior maps for estimation of lane boundaries

    FERGUSON DAVID IAN / SILVER DAVID HARRISON | Europäisches Patentamt | 2016

    Freier Zugriff

    Semantic evidential lane grids with prior maps for autonomous navigation

    Chunlei Yu, / Cherfaoui, Veronique / Bonnifait, Philippe | IEEE | 2016


    LaneSLAM -- Simultaneous Pose and Lane Estimation Using Maps with Lane-Level Accuracy

    Heidenreich, Toni / Spehr, Jens / Stiller, Christoph | IEEE | 2015


    Lane Marker Signal Improvement through Mapped Geo-Referenced Lane Boundaries

    BERKEMEIER MATTHEW DONALD / ROWE KEJA / FROEHLICH DOMINIK et al. | Europäisches Patentamt | 2019

    Freier Zugriff