公开(公告)号：US20230094975A1

公开(公告)日：2023-03-30

申请号：US17488952

申请日：2021-09-29

Applicant: Waymo LLC

Inventor： Romain Jean Thibaux ,  Pankaj Purushottam Chaudhari ,  Jonathan Hsiao

IPC: B60W60/00 ,  G06T11/20

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that create lane graph geometries from lane graph topologies. One of the methods includes receiving data representing a topological lane path through a plurality of cells of a drivable region. From the topological lane path, an initial polyline that traverses the same plurality of cells as the topological lane path can be generated. The initial polyline can be defined by vertices located on edges of a triangulated decomposition of the drivable region. A geometry optimization process can be performed on the initial polyline to generate a final polyline according to optimization criteria. From the final polyline, a geometric lane path representing a geometry of a drivable lane that traverses the drivable region can be generated.

公开(公告)号：US20230099772A1

公开(公告)日：2023-03-30

申请号：US17488806

申请日：2021-09-29

Applicant: Waymo LLC

Inventor： Romain Jean Thibaux ,  Pankaj Purushottam Chaudhari ,  Jonathan Hsiao

IPC: B60W60/00 ,  G01C21/34

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that create lane graph topologies. One of the methods includes receiving data representing a drivable region of space that includes road obstacles. The representation of the drivable region can include data representing cells that represent interconnected drivable regions between the road obstacles. Each cell can contain edges, and each edge can represent that a drivable region exists between two cells. A request to generate a predicted lane graph topology for the drivable region can be received. A plurality of lane graph topologies can be enumerated, and each lane graph topology can include paths through the drivable region. A score can be computed for each lane graph topology. In response to the request, and based on the computed scores, at least one particular enumerated lane graph topology can be provided.