Method and system for updating a localization map of an autonomous vehicle
A technology for automatic driving and vehicles, applied in vehicle position/route/height control, motor vehicles, control/regulation systems, etc., which can solve the problems of high cost, high requirements for sensor and sensor calibration, inability to flexibly adapt to dynamic elements, etc. question
Active Publication Date: 2022-04-05
BAIDU USA LLC
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Problems solved by technology
[0005] Disadvantages of the "top-down synchronous" approach to map generation include: inability to flexibly accommodate dynamic elements such as growing trees, snow, and parked cars when imagery data has been acquired but then moves; High requirements for sensor calibration; and high costs associated with maintaining dedicated data collection vehicles
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[0021] Various embodiments and aspects of the invention will be described with reference to details discussed below and illustrated in the accompanying drawings. The following description and drawings are illustrative of the present invention and should not be construed as limiting the present invention. Numerous specific details are described in order to provide a thorough understanding of various embodiments of the invention. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the invention.
[0022] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearances of the phrase "in one embodiment" in various places in this specification are not necessarily all referring to the same embodimen...
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In one embodiment, a self-aware self-evolving stand-alone localization map system for autonomous vehicles (ADVs) is disclosed. The positioning map system collects ADV positioning data and real-time poses for analysis based on ADV's first positioning map. The analysis determines a confidence score based on the ranking of the similarity scores of the candidate poses, the consistency of the real-time poses, and the spatial or temporal completeness of the map feature space corresponding to the ADV feature space surrounding the ADV. Align a subset of the collected localization data with the first localization map based on the highest ranked candidate pose, and apply the subset of the collected localization data to the first localization map based on the determined confidence score to generate a second localization map , to subsequently determine the position of the ADV.
Description
technical field [0001] Embodiments of the invention generally relate to operating an autonomous vehicle. More specifically, embodiments of the invention relate to updating a localization map of an autonomous vehicle. Background technique [0002] Vehicles operating in an autonomous mode (eg, driverless) can relieve the occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some cases without any passengers. [0003] Maps are a fundamental component of autonomous vehicle systems. Autonomous vehicles (ADVs) rely on multiple land maps to make decisions and perform multiple driving functions autonomously in real time. For example, a location map may provide the ADV with location data to determine the precise location of the ADV based on a 2D or 3D scan of the environment around the ADV. Roadma...
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IPC IPC(8): G01C21/34G01S13/931G01S17/89G01S17/931
CPCG01C21/34G01C21/3859G01C21/3848G01C21/3881G05D1/0274G01S13/931G01S17/89G01S7/4808G01S17/931B60W2556/20G05D1/0088G05D1/0236G05D1/0242G05D1/0257B60W10/20B60W10/18B60W10/04B60W30/09
Inventor 王全佟显乔吕厚昌
Owner BAIDU USA LLC