US 12,246,718 B2
Encoding junction information in map data
Russell Chreptyk, Seattle, WA (US); Matthew Ashman, Redmond, WA (US); Andy Campbell, Kirkland, WA (US); Tharun Battula, Redmond, WA (US); and Vaibhav Thukral, Bellevue, WA (US)
Assigned to NVIDIA CORPORATION, Santa Clara, CA (US)
Filed by NVIDIA Corporation, Santa Clara, CA (US)
Filed on Jun. 17, 2022, as Appl. No. 17/807,474.
Prior Publication US 2023/0406315 A1, Dec. 21, 2023
Int. Cl. G01C 21/00 (2006.01); B60W 30/18 (2012.01); G08G 1/056 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/18159 (2020.02) [G01C 21/3815 (2020.08); G08G 1/056 (2013.01); B60W 60/0011 (2020.02); B60W 2552/05 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4044 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
performing, by an autonomous or semi-autonomous machine, one or more navigation, localization, or control operations for one or more of steering, braking, or accelerating the autonomous or semi-autonomous machine based at least on map data of an area that has been updated at least by:
identifying, in the map data, a junction area that corresponds to one or more potential yield scenarios associated with a corresponding geographical area represented by the map data;
organizing one or more paths that traverse through the junction area according to one or more path groups based at least on directionality of the one or more paths through the junction area;
organizing one or more contentions that influence behavior of objects traveling along the paths according to one or more contention groups based at least on object behavior influenced by the contentions;
associating, using one or more direction data structures, the one or more path groups with at least one contention group of the one or more contention groups; and
updating at least a portion of the map data that corresponds to the junction area with the one or more direction data structures.