	US 12,111,176 B2
	Lane line map construction using probability density bitmaps
Bo Yu, Troy, MI (US); Joon Hwang, Pflugerville, TX (US); Gui Chen, Sterling Heights, MI (US); Carl P. Darukhanavala, Royal Oak, MI (US); Vivek Vijaya Kumar, Shelby Township, MI (US); Shu Chen, Rochester Hills, MI (US); Donald K. Grimm, Utica, MI (US); and Fan Bai, Ann Arbor, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Aug. 24, 2022, as Appl. No. 17/821,898.
Prior Publication US 2024/0068836 A1, Feb. 29, 2024
Int. Cl. G01C 21/30 (2006.01); G01C 21/00 (2006.01)

CPC G01C 21/3822 (2020.08) [G01C 21/3841 (2020.08); G01C 21/3878 (2020.08)]

20 Claims

1. A method of creating a high-definition (HD) map of a roadway, comprising:

receiving sensor data from a plurality of sensors of a plurality of vehicles, wherein the sensor data includes vehicle GPS data received from a plurality of GPS transceivers of the plurality of vehicles, and the sensor data includes sensed lane line data of the roadway received from a plurality of cameras from the plurality of vehicles;

creating a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data;

fusing the plurality of the multi-layer bitmaps of each of the plurality of vehicles to create a fused multi-layer bitmap;

creating a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmap;

extracting lane line data from the plurality of multi-layer probability density bitmaps to obtain extracted lane line data; and

creating the HD map of the roadway using the multi-layer probability density bitmaps and the extracted lane line data from the plurality of multi-layer probability density bitmaps, wherein the HD map of the roadway includes a plurality of lane lines of each of the plurality of lanes of the roadway, thereby improving vehicle navigational technology; and

showing the HD map on a display of a host vehicle.

11. A tangible, non-transitory, machine-readable medium, comprising machine-readable instructions, that when executed by one or more processors, cause the processors to:

receive sensor data from a plurality of sensors of a plurality of vehicles, wherein the sensor data includes vehicle GPS data received from a plurality of GPS transceivers from the plurality of vehicles, and the sensor data includes sensed lane line data of a roadway received from a plurality of cameras of the plurality of vehicles;

create a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data;

fuse the plurality of the multi-layer bitmaps of each of the plurality of vehicles to create a fused multi-layer bitmap;

create a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmap;

extract lane line data from the plurality of multi-layer probability density bitmaps to obtain extracted lane line data; and

create a high-definition (HD) map of the roadway using the multi-layer probability density bitmaps and the extracted lane line data from the plurality of multi-layer probability density bitmaps, wherein the HD map of the roadway includes a plurality of lane lines of each of the plurality of lanes of the roadway, thereby improving vehicle navigational technology; and

showing the HD map on a display of a host vehicle.