US 11,913,791 B2
Crosswalk detection
Harman Kumar, San Francisco, CA (US); Juan Fasola, San Francisco, CA (US); and Yu-Cheng Lin, San Francisco, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Mar. 13, 2023, as Appl. No. 18/120,657.
Application 18/120,657 is a continuation of application No. 16/589,020, filed on Sep. 30, 2019, granted, now 11,629,961.
Prior Publication US 2023/0213344 A1, Jul. 6, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 21/30 (2006.01); G01C 21/36 (2006.01); G01S 17/89 (2020.01); G01T 5/02 (2006.01); G08G 1/16 (2006.01); G06V 20/56 (2022.01); G06V 10/44 (2022.01)
CPC G01C 21/30 (2013.01) [G01C 21/367 (2013.01); G01S 17/89 (2013.01); G01T 5/02 (2013.01); G06V 10/44 (2022.01); G06V 20/588 (2022.01); G08G 1/166 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for crosswalk detection comprising:
classifying a candidate crosswalk as a zebra-type crosswalk or a parallel line-type crosswalk;
identifying an inconsistency of the classifying the candidate crosswalk as the zebra-type crosswalk or the parallel line-type crosswalk by comparing a set of pre-mapped data stored in a map database associated with a navigated route to data collected by a plurality of sensors;
updating the pre-mapped data based on the classifying the zebra-type crosswalk or the parallel line-type crosswalk; and
controlling a direction of movement of an autonomous vehicle during navigation, based on the updating of the pre-mapped data.