US 12,248,075 B2
System and method for identifying travel way features for autonomous vehicle motion control
Raquel Urtasun, Toronto (CA); Min Bai, Toronto (CA); and Shenlong Wang, Toronto (CA)
Assigned to AURORA OPERATIONS, INC., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on May 23, 2024, as Appl. No. 18/672,986.
Application 18/672,986 is a continuation of application No. 17/547,340, filed on Dec. 10, 2021, granted, now 12,032,067.
Application 17/547,340 is a continuation of application No. 16/684,689, filed on Nov. 15, 2019, granted, now 11,217,012, issued on Jan. 4, 2022.
Claims priority of provisional application 62/869,251, filed on Jul. 1, 2019.
Claims priority of provisional application 62/768,829, filed on Nov. 16, 2018.
Prior Publication US 2024/0427022 A1, Dec. 26, 2024
Int. Cl. G01S 17/931 (2020.01); G06T 7/10 (2017.01); G06T 7/70 (2017.01); G06T 17/00 (2006.01); G06T 17/10 (2006.01); G06V 10/26 (2022.01); G06V 10/80 (2022.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC G01S 17/931 (2020.01) [G06T 7/10 (2017.01); G06T 7/70 (2017.01); G06T 17/00 (2013.01); G06T 17/10 (2013.01); G06V 10/26 (2022.01); G06V 10/803 (2022.01); G06V 20/56 (2022.01); G06V 20/582 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
obtaining three-dimensional data associated with an environment of an autonomous vehicle at a current time;
generating a current three-dimensional segmentation based on the three dimensional data associated with the environment of the autonomous vehicle at the current time;
obtaining a previously generated three-dimensional segmentation associated with the environment of the autonomous vehicle;
generating an updated three-dimensional segmentation based on the current three-dimensional segmentation and the previously generated three-dimensional segmentation;
determining a travel way feature within the environment based on the updated three-dimensional segmentation; and
controlling an operation of the autonomous vehicle based on the travel way feature within the environment.