US 12,103,559 B2
Filtering real-world objects for inclusion in a simulated environment
Zachary Monteith, San Francisco, CA (US); Sofya Pugach, San Francisco, CA (US); and Hariprasad Govardhanam, 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 Dec. 17, 2021, as Appl. No. 17/554,851.
Prior Publication US 2023/0192136 A1, Jun. 22, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); G06F 30/23 (2020.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 60/0016 (2020.02) [B60W 30/095 (2013.01); G06F 30/23 (2020.01); G06V 20/582 (2022.01); G06V 20/588 (2022.01); B60W 2420/408 (2024.01); B60W 2554/4041 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for generating a synthetic map, comprising:
collecting sensor data, by an autonomous vehicle stack of an autonomous vehicle, corresponding with a three-dimensional (3D) space surrounding the autonomous vehicle as the autonomous vehicle navigates the 3D space;
identifying a set of identified objects in the sensor data;
determining, by the autonomous vehicle stack that controls operation of the autonomous vehicle as the autonomous vehicle navigates the 3D space, (1) a corresponding influence score for each object in the set of identified objects, which indicates a likelihood that the object influences a trajectory of the autonomous vehicle at a present time and (2) a corresponding duration of presence of each object in the set of identified objects in the sensor data;
selecting one or more objects in the set of identified objects for inclusion in the synthetic map based on the determined influence scores for each object in the set of identified objects and the determined duration of presence of each object in the set of the identified objects, wherein when the corresponding influence score of an object in the set of identified objects is greater than a first threshold and the corresponding duration of presence of the object in the set of identified object is greater than a second threshold, then the object is selected for inclusion in the synthetic map; and
generating the synthetic map including a 3D rendering of the selected one or more objects.