| CPC B60W 60/001 (2020.02) [G01C 21/3815 (2020.08); G01C 21/387 (2020.08); G06V 20/582 (2022.01); G06V 20/584 (2022.01); B60W 2420/403 (2013.01)] | 17 Claims |
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1. A method performed by a vehicle, the method comprising:
receiving, from one or more sensors of the vehicle, first sensor data associated with a surrounding environment of the vehicle;
receiving first map data of a first map type, wherein the first map data includes a representation of a geographical area surrounding the vehicle;
retrofitting a vehicle controller of the vehicle that is based on a second map type different from the first map type to operate on the first map data, wherein the retrofitting comprises:
adapting the first map data using the first sensor data to generate second map data associated with the second map type, the adaption including identifying at least one object in the first map data using an object detection module, generating semantics for the object using an object-semantic generation sub-module, identifying a high definition (HD) object in an HD object library, wherein the HD object corresponds to the semantic model of the object, and replacing the semantic model of the object with an HD object using an object semantic to HD object replacement (OSHDOR) sub-module;
determining, by the vehicle controller, an action for the vehicle based at least in part on the generated second map data, wherein the action for the vehicle is a planned vehicle maneuver; and
using a control module of the vehicle controller, implementing the planned vehicle maneuver by outputting control instructions to at least one movement subsystem of the vehicle.
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