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公开(公告)号：EP3761226A1
公开(公告)日：2021-01-06
申请号：EP20182745.8
申请日：2016-02-10
发明人： SHASHUA, Amnon , GDALYAHU, Yoram , SPRINGER, Ofer , REISMAN, Aran , BRAUNSTEIN, Daniel , BUBERMAN, Ori , SHALEV-SHWARTZ, Shai , TAIEB, Yoav , TUBIS, Igor , HUBERMAN, David , BELLAICHE, Levi , STEIN, Gideon , FERENCZ, Andras , HAYON, Gaby , RUBINSKY, Sergey , AVIEL, Yuval
IPC分类号： G06K9/00 , G01C21/36 , G01C21/00 , B60W30/10 , B60W40/06 , B60W60/00 , G01C21/32 , G01C21/34 , G06F16/23 , G06F16/29 , G06K9/32
摘要： Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. In one implementation, a non-transitory computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters. The sparse map has a data density of no more than 1 megabyte per kilometer.
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公开(公告)号：EP3734504A1
公开(公告)日：2020-11-04
申请号：EP20182743.3
申请日：2016-02-10
发明人： SHASHUA, Amnon , GDALYAHU, Yoram , SPRINGER, Ofer , REISMAN, Aran , BRAUNSTEIN, Daniel , BUBERMAN, Ori , SHALEV-SHWARTZ, Shai , TAIEB, Yoav , TUBIS, Igor , HUBERMAN, David , BELLAICHE, Levi , STEIN, Gideon , FERENCZ, Andras , HAYON, Gaby , RUBINSKY, Sergey , AVIEL, Yuval
摘要： Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. In one implementation, a non-transitory computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters. The sparse map has a data density of no more than 1 megabyte per kilometer.
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公开(公告)号：EP4180768A1
公开(公告)日：2023-05-17
申请号：EP22195482.9
申请日：2016-02-10
发明人： SHASHUA, Amnon , GDALYAHU, Yoram , SPRINGER, Ofer , REISMAN, Aran , BUBERMAN, Ori , SHALEV-SHWARTZ, Shai , TAIEB, Yoav , TUBIS, Igor , HUBERMAN, David , BELLAICHE, Levi , STEIN, Gideon , FERENCZ, Andras , HAYON, Gaby , RUBINSKY, Sergey , AVIEL, Yuval , BRAUNSTEIN, Daniel
摘要： Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. In one implementation, a non-transitory computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters. The sparse map has a data density of no more than 1 megabyte per kilometer.
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公开(公告)号：EP3256816A2
公开(公告)日：2017-12-20
申请号：EP16708522.4
申请日：2016-02-10
发明人： SHASHUA, Amnon , GDALYAHU, Yoram , SPRINGER, Ofer , REISMAN, Aran , BRAUNSTEIN, Daniel , BUBERMAN, Ori , SHALEV-SHWARTZ, Shai , TAIEB, Yoav , TUBIS, Igor , HUBERMAN, David , BELLAICHE, Levi , STEIN, Gideon , FERENCZ, Andras , HAYON, Gaby , RUBINSKY, Sergey , LIVYATAN, Harel , AVIEL, Yuval
CPC分类号： G05D1/0088 , B60W30/14 , B60W30/18 , B60W2420/42 , B60W2550/22 , B60W2710/18 , B60W2710/20 , B60W2720/10 , B62D15/025 , G01C21/14 , G01C21/165 , G01C21/32 , G01C21/34 , G01C21/3407 , G01C21/3476 , G01C21/36 , G01C21/3602 , G01C21/3623 , G01C21/3644 , G01C21/3691 , G01S19/10 , G05D1/0212 , G05D1/0219 , G05D1/0221 , G05D1/0246 , G05D1/0251 , G05D1/0253 , G05D1/0278 , G05D1/0287 , G05D2201/0213 , G06F17/30241 , G06F17/30377 , G06K9/00791 , G06K9/00798 , G06K9/00818 , G06K9/00825 , G06K9/3258 , G06T7/00 , G06T2207/20081 , G06T2207/30256 , G06T2207/30261 , G08G1/0112 , G08G1/09623 , G08G1/096725 , G08G1/096805 , G08G1/167 , H04L67/12
摘要： A system for autonomously navigating a vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device at least one image representative of an environment of the vehicle. The processor may also be programmed to analyze the at least one image to identify at least one recognized landmark. Further, the processor may be programmed to determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark. In addition, the processor may be programmed to determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory.
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