Patent ID: 11933617
Assignee: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 16:
17. A method for generate lane level navigation information for autonomous navigation, comprising:
receiving a high-definition (HD) map that defines a plurality of lane segments that together represent one or more lanes of a roadway, the HD map including at least a current lane segment and a destination lane segment;
selecting a portion of the HD map as a partial HD map including the current lane segment with a size based at least in part on a range of one or more vehicle sensors arranged on an autonomous vehicle;
generate auxiliary global information for each of the lane segments in the partial HD map;
generating a subgraph including a plurality of possible routes between the current lane segment and the destination lane segment using the partial HD map the auxiliary global information;
receiving data from the one or more vehicle sensors indicative of current conditions of the lane segments;
identifying a lane closure for at least one of the lane segments in the HD map based on the data received from the one or more vehicle sensors;
selecting one of the possible routes for navigation based on the auxiliary global information and the identified lane closure; and
generating lane level navigation information based on the selected route.