US 11,892,832 B2
Lane path modification framework
Jeffrey Sham, San Jose, CA (US); Homero Menchaca Hernández, Sunnyvale, CA (US); Jeffrey Carlson, Mountain View, CA (US); Yulai Shen, Sunnyvale, CA (US); and Ningshan Zhang, San Jose, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jun. 16, 2021, as Appl. No. 17/349,035.
Prior Publication US 2022/0404823 A1, Dec. 22, 2022
Int. Cl. G05D 1/00 (2006.01); G05D 1/02 (2020.01); G06V 20/58 (2022.01); G06V 20/56 (2022.01); G06V 10/22 (2022.01); G06V 10/44 (2022.01)
CPC G05D 1/0016 (2013.01) [G05D 1/0038 (2013.01); G05D 1/0214 (2013.01); G06V 10/235 (2022.01); G06V 10/457 (2022.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving data representing a sensor measurement, generated by one or more sensors, of a scene in an environment;
receiving data defining a set of valid lane paths in the scene in the environment, each valid lane path representing a path through the scene that can be traversed by a vehicle;
receiving data indicating that at least one valid lane path in the scene has become an invalid lane path, each invalid lane path representing a path that contains an obstruction that prevents a vehicle from traversing a path through the scene represented by the invalid lane path;
providing user interface presentation data to a user device that causes the user device to display a user interface, the user interface comprising:
(i) a first display area that displays a first visual representation of the sensor measurement; and
(ii) a second display area that displays a second visual representation of the at least one invalid lane path;
receiving a user input modifying the second visual representation of the at least one invalid lane path such that the modified visual representation avoids the obstruction;
generating, using the user input, a lane path that can be traversed by a vehicle; and
in response to receiving the user input modifying the second visual representation, modifying the set of valid lane paths of the scene in the environment to include the generated lane path.