US 12,007,786 B2
System and method for real-time lane validation
Erin Antcliffe, San Francisco, CA (US); Jeremy Allan, Menlo Park, CA (US); Robin Yang, Oakland, CA (US); Andrew Robinson, San Francisco, CA (US); Lucio Otavio Marchioro Rech, San Francisco, CA (US); Brian Joseph Donohue, San Francisco, CA (US); and Kavya Sambana, Castro Valley, 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. 31, 2023, as Appl. No. 18/129,659.
Application 18/129,659 is a continuation of application No. 16/836,517, filed on Mar. 31, 2020, granted, now 11,644,846.
Prior Publication US 2023/0251670 A1, Aug. 10, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); B60W 60/00 (2020.01); G01C 21/34 (2006.01); G01C 21/36 (2006.01); G05D 1/00 (2006.01); G08G 1/16 (2006.01)
CPC G05D 1/0276 (2013.01) [B60W 60/0053 (2020.02); G01C 21/3415 (2013.01); G01C 21/3691 (2013.01); G08G 1/161 (2013.01); G05D 1/0274 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
traversing, by an autonomous vehicle, at least one lane of a route; and
sending sensor data to a remote computing system after traversing the at least one lane, the sensor data indicating whether the at least one lane is in accordance with a virtual lane of a virtual map, the virtual lane corresponding to the at least one lane, wherein the at least one lane is in accordance with the virtual lane when the autonomous vehicle enters the at least one lane via an entry of the at least one lane and exits the at least one lane via an exit of the at least one lane.