公开(公告)号：US20240085210A1

公开(公告)日：2024-03-14

申请号：US17930503

申请日：2022-09-08

Applicant: GM Global Technology Operations LLC

Inventor： Bo Yu ,  Fan Bai ,  Gui Chen ,  Joon Hwang ,  Carl P. Darukhanavala ,  Vivek Vijaya Kumar ,  Shu Chen ,  Donald K. Grimm

IPC: G01C21/00

CPC classification number: G01C21/3822 ,  G01C21/3841 ,  G01C21/3867

Abstract: A method of creating a high-definition (HD) map of a roadway includes receiving a multi-layer probability density bitmap. The multi-layer probability density bitmap represents a plurality of lane lines of the roadway sensed by a plurality of sensors of a plurality of vehicles. The multi-layer probability density bitmap includes a plurality of points. The method further includes recursively conducting a hill climbing search using the multi-layer probability density bitmap to create a plurality of lines. In addition, the method includes creating the HD map of the roadway using the plurality of lines determined by the hill climbing search.

公开(公告)号：US20240068836A1

公开(公告)日：2024-02-29

申请号：US17821898

申请日：2022-08-24

Applicant: GM Global Technology Operations LLC

Inventor： Bo Yu ,  Joon Hwang ,  Gui Chen ,  Carl P. Darukhanavala ,  Vivek Vijaya Kumar ,  Shu Chen ,  Donald K. Grimm ,  Fan Bai

IPC: G01C21/00

CPC classification number: G01C21/3822 ,  G01C21/3841 ,  G01C21/3878

Abstract: A method includes receiving sensor data from a plurality of sensors of a plurality of vehicles. The sensor data includes vehicle GPS data and sensed lane line data of the roadway. The method further includes creating a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data, fusing the plurality of the multi-layer bitmaps of each of the plurality of vehicles to create a fused multi-layer bitmap, creating a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmap, extracting lane line data from the plurality of multi-layer probability density bitmaps, and creating the high-definition (HD) map of the roadway using the multi-layer probability density bitmaps and the lane line data extracted from the plurality of multi-layer probability density bitmaps.