Patent ID: 11933617
Assignee: TUSIMPLE, INC.
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 8:
9. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:
receive 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 the plurality of lane segments connecting the current lane segment to a destination lane segment;
select 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;
generate a subgraph including a plurality of possible routes between the current lane segment and the destination lane segment using the partial HD map and the auxiliary global information;
receive data from the one or more vehicle sensors indicative of current conditions of the lane segments;
identify 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;
select one of the possible routes for navigation based on the auxiliary global information and the identified lane closure; and
generate lane level navigation information based on the selected route.