公开(公告)号：US11775570B2

公开(公告)日：2023-10-03

申请号：US17381067

申请日：2021-07-20

申请人： DEEPMAP INC.

发明人： Mark Damon Wheeler

IPC分类号： G06F12/0811 ,  G06F9/54 ,  G05D1/00 ,  G05D1/02 ,  G06F16/29 ,  G01C21/00 ,  G06F12/0875

CPC分类号： G06F16/29 ,  G01C21/3881 ,  G01C21/3889 ,  G05D1/0088 ,  G05D1/0212 ,  G05D1/0274 ,  G06F9/54 ,  G06F12/0811 ,  G06F12/0875 ,  G05D2201/0213 ,  G06F2212/1016 ,  G06F2212/1024 ,  G06F2212/283

摘要： High definition maps for autonomous vehicles are very high resolution and detailed, and hence require storage of a great deal of data. A vehicle computing system provides multi-layered caching makes this data usable in a system that requires very low latency on every operation. The system determines which routes are most likely to be driven in the near future by the car, and ensures that the route is cached on the vehicle before beginning the route. The system provides efficient formats for moving map data from server to car and for managing the on-car disk. The system further provides real-time accessibility of nearby map data as the car moves, while providing data access at optimal speeds.

公开(公告)号：US11428536B2

公开(公告)日：2022-08-30

申请号：US16721516

申请日：2019-12-19

申请人： DeepMap Inc.

发明人： Derek Thomas Miller ,  Lin Yang ,  Mark Damon Wheeler

IPC分类号： G01C21/32 ,  G05D1/02 ,  G05D1/00 ,  G08G1/0968 ,  G08G1/01

摘要： A system accesses a three-dimensional map of a geographic region and generates a two-dimensional projection of the road based on the three-dimensional map. The two-dimensional projection comprises a plurality of points along the road and each point is assigned a score measuring a navigability of the point. Based on the navigability score of each point and history of vehicle positions on the road, the system identifies a plurality of navigable points on the two-dimensional projection of the road. Based on the plurality of navigable points, the system determines a navigable surface corresponding to a physical area over which a vehicle may safely navigate and navigable surface boundaries surrounding that area. The navigable surface area and boundaries on the two-dimensional projection are converted into a three-dimensional representation, which the system uses to generate an updated three-dimensional map of the geographic region.

公开(公告)号：US11365976B2

公开(公告)日：2022-06-21

申请号：US16290564

申请日：2019-03-01

申请人： DeepMap Inc.

发明人： Gil Colgate ,  Mark Damon Wheeler

IPC分类号： G01C21/36 ,  G01C21/32 ,  G01C21/34 ,  G05D1/00 ,  G06T7/70 ,  G06T11/60 ,  G06V20/40 ,  G06V20/56 ,  G06V30/262 ,  G05D1/02

摘要： The autonomous vehicle generates an overlapped image by overlaying HD map data over sensor data and rendering the overlaid images. The visualization process is repeated as the vehicle drives along the route. The visualization may be displayed on a screen within the vehicle or at a remote device. The system performs reverse rendering of a scene based on map data from a selected point. For each line of sight originating at the selected point, the system identifies the farthest object in the map data. Accordingly, the system eliminates objects obstructing the view of the farthest objects in the HD map as viewed from the selected point. The system further allows filtering of objects using filtering criteria based on semantic labels. The system generates a view from the selected point such that 3D objects matching the filtering criteria are eliminated from the view.

公开(公告)号：US11280609B2

公开(公告)日：2022-03-22

申请号：US15857609

申请日：2017-12-28

申请人： DeepMap Inc.

发明人： Chen Chen ,  Mark Damon Wheeler ,  Liang Zou

IPC分类号： G01C11/12 ,  G06T7/73 ,  G06T7/68 ,  G06K9/00 ,  G06T7/55 ,  G06T17/05 ,  G01C11/30 ,  G06T7/246 ,  G06K9/46 ,  G01C11/06 ,  G01C21/36 ,  G06T7/11 ,  G01C21/32 ,  G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06T7/593 ,  G06K9/62 ,  B60W40/06 ,  G01S19/42 ,  G08G1/00 ,  G06T17/20 ,  G01C21/00 ,  G01S19/47 ,  G01S19/46 ,  G01S17/89

摘要： A high-definition map system receives sensor data from vehicles travelling along routes and combines the data to generate a high definition map for use in driving vehicles, for example, for guiding autonomous vehicles. A pose graph is built from the collected data, each pose representing location and orientation of a vehicle. The pose graph is optimized to minimize constraints between poses. Points associated with surface are assigned a confidence measure determined using a measure of hardness/softness of the surface. A machine-learning-based result filter detects bad alignment results and prevents them from being entered in the subsequent global pose optimization. The alignment framework is parallelizable for execution using a parallel/distributed architecture. Alignment hot spots are detected for further verification and improvement. The system supports incremental updates, thereby allowing refinements of subgraphs for incrementally improving the high-definition map for keeping it up to date.

公开(公告)号：US20210172756A1

公开(公告)日：2021-06-10

申请号：US17115576

申请日：2020-12-08

申请人： DeepMap Inc.

发明人： Mark Damon Wheeler ,  Lin Yang ,  Dongzhen Piao ,  Yu Zhang

IPC分类号： G01C21/36 ,  G06K9/46 ,  G05D1/00 ,  G06K9/00 ,  G06T17/05 ,  G06T17/00 ,  G06K9/44 ,  B60W40/04 ,  G01C21/32

摘要： An HD map system represents landmarks on a high definition map for autonomous vehicle navigation, including describing spatial location of lanes of a road and semantic information about each lane, and along with traffic signs and landmarks. The system generates lane lines designating lanes of roads based on, for example, mapping of camera image pixels with high probability of being on lane lines into a three-dimensional space, and locating/connecting center lines of the lane lines. The system builds a large connected network of lane elements and their connections as a lane element graph. The system also represents traffic signs based on camera images and detection and ranging sensor depth maps. These landmarks are used in building a high definition map that allows autonomous vehicles to safely navigate through their environments.

公开(公告)号：US10859395B2

公开(公告)日：2020-12-08

申请号：US15859194

申请日：2017-12-29

申请人： DeepMap Inc.

发明人： Mark Damon Wheeler ,  Lin Yang ,  Dongzhen Piao ,  Yu Zhang

IPC分类号： G01C21/36 ,  G06T17/05 ,  G06K9/00 ,  B60W40/04 ,  G05D1/00 ,  G06K9/46 ,  G06K9/44 ,  G01C21/32 ,  G06T17/00

摘要： An HD map system represents landmarks on a high definition map for autonomous vehicle navigation, including describing spatial location of lanes of a road and semantic information about each lane, and along with traffic signs and landmarks. The system generates lane lines designating lanes of roads based on, for example, mapping of camera image pixels with high probability of being on lane lines into a three-dimensional space, and locating/connecting center lines of the lane lines. The system builds a large connected network of lane elements and their connections as a lane element graph. The system also represents traffic signs based on camera images and detection and ranging sensor depth maps. These landmarks are used in building a high definition map that allows autonomous vehicles to safely navigate through their environments.

公开(公告)号：US10816346B2

公开(公告)日：2020-10-27

申请号：US15859014

申请日：2017-12-29

申请人： DeepMap Inc.

发明人： Mark Damon Wheeler ,  Xiaqing Wu

IPC分类号： G01C21/00 ,  G01C21/32 ,  G06F16/29 ,  G06K9/00 ,  G06K9/03 ,  G06K9/62 ,  H04L29/08 ,  H04L29/14 ,  G01C21/36 ,  G05D1/00 ,  G06T17/05 ,  B60W30/095 ,  B60W40/02 ,  G01C21/30 ,  G05D1/02

摘要： An online system builds a high definition (HD) map for a geographical region based on sensor data captured by a plurality of autonomous vehicles driving through a geographical region. The autonomous vehicles detect map discrepancies based on differences in the surroundings observed using sensor data compared to the high definition map and send messages describing these map discrepancies to the online system. The online system updates existing occupancy maps to improve the accuracy of the occupancy maps (OMaps), and to thereby improve passenger and pedestrian safety. While vehicles are in motion, they can continuously collect data about their surroundings. When new data is available from the various vehicles within a fleet, this can be updated in a local representation of the occupancy map and can be passed to the online HD map system (e.g., in the cloud) for updating the master occupancy map shared by all of the vehicles.

公开(公告)号：US20200284581A1

公开(公告)日：2020-09-10

申请号：US16787469

申请日：2020-02-11

申请人： DeepMap Inc.

发明人： Ronghua Zhang ,  Chen Chen ,  Di Zeng ,  Mark Damon Wheeler

IPC分类号： G01C11/12 ,  G06T7/73 ,  G06T7/68 ,  G06K9/00 ,  G06T7/55 ,  G06T17/05 ,  G01C11/30 ,  G06T7/246 ,  G06K9/46 ,  G01C11/06 ,  G01C21/36 ,  G06T7/11 ,  G01C21/32 ,  G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06T7/593 ,  G06K9/62 ,  B60W40/06 ,  G01S19/42 ,  G08G1/00 ,  G06T17/20 ,  G01C21/00

摘要： As an autonomous vehicle moves through a local area, pairwise alignment may be performed to calculate changes in the pose of the vehicle between different points in time. The vehicle comprises an imaging system configured to capture image frames depicting a portion of the surrounding area. Features are identified from the captured image frames, and a 3-D location is determined for each identified feature. The features of different image frames corresponding to different points in time are analyzed to determine a transformation in the pose of the vehicle during the time period between the image frames. The determined poses of the vehicle are used to generate an HD map of the local area.

公开(公告)号：US10469753B2

公开(公告)日：2019-11-05

申请号：US16163463

申请日：2018-10-17

申请人： DeepMap Inc.

发明人： Lin Yang ,  Mark Damon Wheeler

IPC分类号： H04N5/232 ,  G01S7/497 ,  G01S17/89 ,  G05D1/02 ,  G06T7/80 ,  G06T7/13 ,  G01S17/02 ,  G01S17/42 ,  G01S17/93 ,  G01S7/481 ,  G05D1/00 ,  G06T7/55 ,  G06T7/33 ,  G01C21/36 ,  H04N5/04 ,  G01S17/87 ,  H04N13/106 ,  H04N5/225 ,  H04N5/247 ,  B60R1/00 ,  G06K9/00 ,  G06K9/62

摘要： A method and system for synchronizing a lidar and a camera on an autonomous vehicle. The system selects a plurality of track samples for a route including a lidar scan and an image. For each track sample, the system calculates a time shift by iterating many time deltas. For each time delta, the system adjusts a camera timestamp by that time delta, projects a lidar scan onto the image as a lidar projection according to the adjusted camera timestamp, and calculates an alignment score of the lidar projection for that time delta. The system defines the time shift for each track sample as the time delta with the highest alignment score. The system then models time drift of the camera compared to the lidar based on the calculated time shifts for the track samples and synchronizes the lidar and the camera according to the modeled time drift.

公开(公告)号：US20190271559A1

公开(公告)日：2019-09-05

申请号：US16290480

申请日：2019-03-01

申请人： DeepMap Inc.

发明人： Gil Colgate ,  Mark Damon Wheeler ,  Wei Luo

IPC分类号： G01C21/36 ,  G05D1/00 ,  G06T7/70 ,  G06T11/60

摘要： The autonomous vehicle generates an overlapped image by overlaying HD map data over sensor data and rendering the overlaid images. The visualization process is repeated as the vehicle drives along the route. The visualization may be displayed on a screen within the vehicle or at a remote device. The system performs reverse rendering of a scene based on map data from a selected point. For each line of sight originating at the selected point, the system identifies the farthest object in the map data. Accordingly, the system eliminates objects obstructing the view of the farthest objects in the HD map as viewed from the selected point. The system further allows filtering of objects using filtering criteria based on semantic labels. The system generates a view from the selected point such that 3D objects matching the filtering criteria are eliminated from the view.