US 12,264,936 B2
Fully aligned junctions
Yahel Guberman, Jerusalem (IL); Ofer Springer, Jerusalem (IL); Ofer Fridman, Beit Zayit (IL); and Yoav Taieb, Jerusalem (IL)
Assigned to MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed by MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed on May 25, 2022, as Appl. No. 17/824,305.
Application 17/824,305 is a continuation of application No. PCT/US2020/067755, filed on Dec. 31, 2020.
Claims priority of provisional application 63/120,533, filed on Dec. 2, 2020.
Claims priority of provisional application 63/120,536, filed on Dec. 2, 2020.
Claims priority of provisional application 63/119,293, filed on Nov. 30, 2020.
Claims priority of provisional application 62/956,997, filed on Jan. 3, 2020.
Claims priority of provisional application 62/957,017, filed on Jan. 3, 2020.
Claims priority of provisional application 62/957,028, filed on Jan. 3, 2020.
Claims priority of provisional application 62/956,987, filed on Jan. 3, 2020.
Claims priority of provisional application 62/956,993, filed on Jan. 3, 2020.
Claims priority of provisional application 62/957,019, filed on Jan. 3, 2020.
Prior Publication US 2022/0282989 A1, Sep. 8, 2022
Int. Cl. G01C 21/00 (2006.01); B60R 1/22 (2022.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01); G01C 21/30 (2006.01); G01S 19/45 (2010.01); G05D 1/00 (2024.01); G06T 7/73 (2017.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); G08G 1/04 (2006.01)
CPC G01C 21/3815 (2020.08) [B60R 1/22 (2022.01); B60W 30/0953 (2013.01); B60W 60/0011 (2020.02); B60W 60/0027 (2020.02); G01C 21/005 (2013.01); G01C 21/30 (2013.01); G01C 21/3833 (2020.08); G01C 21/3841 (2020.08); G01C 21/3844 (2020.08); G01C 21/3867 (2020.08); G01C 21/387 (2020.08); G01C 21/3881 (2020.08); G01S 19/45 (2013.01); G05D 1/0223 (2013.01); G05D 1/0246 (2013.01); G05D 1/0274 (2013.01); G05D 1/0278 (2013.01); G06T 7/74 (2017.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); G08G 1/04 (2013.01); B60W 2400/00 (2013.01); B60W 2420/403 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30256 (2013.01)] 34 Claims
OG exemplary drawing
 
1. A sparse map generator system for creating maps used in navigating autonomous or partially autonomous vehicles, comprising:
at least one processor programmed to:
receive drive information from each of a plurality of vehicles that traverse a road junction, the road junction including a plurality of entrances and one or more exits associated with each one of the plurality of entrances, wherein the drive information from each of the plurality of vehicles includes three-dimensional feature points associated with objects detected by analyzing images captured as a particular vehicle traversed a particular entrance-exit combination of the road junction and a traversed trajectory of the particular vehicle through the road junction;
identify, based on the drive information, a plurality of vehicle groups, wherein each vehicle group of the plurality of vehicle groups includes one or more vehicles that traverse a different entrance-exit combination associated with the road junction;
for each of the entrance-exit combinations, align the three-dimensional feature points received in the drive information collected from vehicles in a vehicle group associated with that entrance-exit combination to generate a plurality of aligned three-dimensional feature point groups and a plurality of target trajectories through the road junction, one aligned three-dimensional feature point group and one target trajectory for each entrance-exit combination of the road junction, the plurality of target trajectories being based on the traversed trajectories received in the drive information collected from vehicles in the vehicle group associated with that entrance-exit combination;
correlate one or more three-dimensional feature points in each of the plurality of aligned three-dimensional feature point groups with one or more three-dimensional feature points included in one or more other aligned three-dimensional feature point groups from among the plurality of aligned three-dimensional feature point groups;
align, based on the correlation, the plurality of target trajectories through the road junction to generate a plurality of aligned target trajectories, one aligned target trajectory for each entrance-exit combination of the road junction;
generate a sparse map including the plurality of aligned target trajectories; and
distribute the sparse map to one or more additional vehicles, wherein the additional vehicles are configured to navigate through the road junction based on the aligned target trajectories.