| CPC B60W 60/001 (2020.02) [B60W 40/10 (2013.01); G01C 21/3841 (2020.08); G01C 21/3896 (2020.08); G08G 1/096708 (2013.01); B60W 2420/00 (2013.01); B60W 2552/50 (2020.02); B60W 2554/20 (2020.02); B60W 2556/40 (2020.02); B60W 2756/10 (2020.02)] | 19 Claims |
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1. An autonomous vehicle control system, comprising:
an on-board map configured to store offline map data of a portion of an environment within which an autonomous vehicle operates, the offline map data validated by an offline process and received by the on-board map as a versioned update deployed to a fleet of autonomous vehicles, the offline map data defining a plurality of static elements within the portion of the environment; and
one or more processors configured to execute:
a generator component that generates, using one or more instructions executed by the one or more processors, a baseline digital map of an area surrounding the autonomous vehicle from offline map data stored in the on-board map;
a perception component that generates, using one or more instructions executed by the one or more processors, first observation data collected from one or more sensors of the autonomous vehicle;
a map fusion component disposed downstream of the generator component and the perception component and configured to, using one or more instructions executed by the one or more processors, receive the baseline digital map from the generator component, the first observation data from the perception component, and second observation data from a remote live map system and associated with one or more observations collected from the environment by one or more other autonomous vehicles in the fleet of autonomous vehicles and not represented in the offline map data for the portion of the environment, wherein the map fusion component is further configured to fuse the first observation data and the second observation data with the baseline digital map data to generate an augmented digital map; and
a motion planner component disposed downstream of the map fusion component and configured to, using one or more instructions executed by the one or more processors, receive the augmented digital map and generate a trajectory for the autonomous vehicle from the augmented digital map;
wherein the one or more processors are further configured to control the autonomous vehicle using the trajectory generated by the motion planner component.
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