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

Claim 0:
1. A control system for an autonomous vehicle, comprising:
one or more vehicle sensors arranged on the autonomous vehicle;
a processor; and
a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor 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 the one or more vehicle sensors;
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.