公开(公告)号：US11842528B2

公开(公告)日：2023-12-12

申请号：US17079057

申请日：2020-10-23

申请人： NVIDIA CORPORATION

发明人： Mark Damon Wheeler ,  Xiaqing Wu

IPC分类号： B60W30/00 ,  G06V10/764 ,  G06F16/29 ,  H04L67/10 ,  H04L69/40 ,  G01C21/00 ,  G06V10/98 ,  G06V20/56 ,  G06V20/64 ,  H04L67/52 ,  G06F18/22 ,  G06F18/24 ,  G06V10/75 ,  G01C21/36 ,  G05D1/00 ,  G06T17/05 ,  B60W30/095 ,  B60W40/02 ,  G01C21/30 ,  G05D1/02 ,  H04L67/12 ,  G06V20/58 ,  H04L67/53

CPC分类号： G06V10/764 ,  B60W30/0956 ,  B60W40/02 ,  G01C21/30 ,  G01C21/3635 ,  G01C21/3841 ,  G01C21/3848 ,  G01C21/3867 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0274 ,  G06F16/29 ,  G06F18/22 ,  G06F18/24 ,  G06T17/05 ,  G06V10/75 ,  G06V10/98 ,  G06V20/56 ,  G06V20/64 ,  H04L67/10 ,  H04L67/12 ,  H04L67/52 ,  H04L69/40 ,  B60W2554/00 ,  B60W2556/50 ,  G05D2201/0213 ,  G06V20/58 ,  H04L67/53

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.