UNIFIED FRAMEWORK AND TOOLING FOR LANE BOUNDARY ANNOTATION

Provided are a system and methods for a unified framework and tooling for lane boundary annotation, which include obtaining sensor data along a trajectory corresponding to locations of a base map. Features are extracted from the sensor data. The features are input into a trained neural network that outputs overlapping rich feature maps comprising polylines. The overlapping rich feature maps are aggregated according to an aggregation function to obtain raster image. Vectorization is applied to the raster images to extract roadway geometry represented by globally consistent polylines.

BACKGROUND

Maps provide geographical information associated with real world locations. Computer-based navigation systems use digital maps to obtain information about an area and make navigation decisions. Accuracy of these digital maps is verified by humans.

DETAILED DESCRIPTION

In the following description numerous specific details are set forth in order to provide a thorough understanding of the present disclosure for the purposes of explanation. It will be apparent, however, that the embodiments described by the present disclosure can be practiced without these specific details. In some instances, well-known structures and devices are illustrated in block diagram form in order to avoid unnecessarily obscuring aspects of the present disclosure.

Specific arrangements or orderings of schematic elements, such as those representing systems, devices, modules, instruction blocks, data elements, and/or the like are illustrated in the drawings for ease of description. However, it will be understood by those skilled in the art that the specific ordering or arrangement of the schematic elements in the drawings is not meant to imply that a particular order or sequence of processing, or separation of processes, is required unless explicitly described as such. Further, the inclusion of a schematic element in a drawing is not meant to imply that such element is required in all embodiments or that the features represented by such element may not be included in or combined with other elements in some embodiments unless explicitly described as such.

Further, where connecting elements such as solid or dashed lines or arrows are used in the drawings to illustrate a connection, relationship, or association between or among two or more other schematic elements, the absence of any such connecting elements is not meant to imply that no connection, relationship, or association can exist. In other words, some connections, relationships, or associations between elements are not illustrated in the drawings so as not to obscure the disclosure. In addition, for ease of illustration, a single connecting element can be used to represent multiple connections, relationships or associations between elements. For example, where a connecting element represents communication of signals, data, or instructions (e.g., “software instructions”), it should be understood by those skilled in the art that such element can represent one or multiple signal paths (e.g., a bus), as may be needed, to affect the communication.

Although the terms first, second, third, and/or the like are used to describe various elements, these elements should not be limited by these terms. The terms first, second, third, and/or the like are used only to distinguish one element from another. For example, a first contact could be termed a second contact and, similarly, a second contact could be termed a first contact without departing from the scope of the described embodiments. The first contact and the second contact are both contacts, but they are not the same contact.

As used herein, the term “if” is, optionally, construed to mean “when”, “upon”, “in response to determining,” “in response to detecting,” and/or the like, depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining,” “in response to determining,” “upon detecting [the stated condition or event],” “in response to detecting [the stated condition or event],” and/or the like, depending on the context. Also, as used herein, the terms “has”, “have”, “having”, or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based at least partially on” unless explicitly stated otherwise.

General Overview

In some aspects and/or embodiments, systems, methods, and computer program products described herein include and/or implement a unified framework and tooling for lane boundary annotation. Sensor data along a trajectory corresponding to locations of a base map is obtained. Features are extracted from the sensor data, and rich feature maps are aggregated according to an aggregation function and used to generate raster images. Vectorization is applied to the raster images to extract roadway geometry represented by globally consistent polylines. In examples, the globally consistent polylines enable localization as a vehicle navigates the locations of the base map. Additionally, in examples, a human annotator uses the globally consistent polylines to automatically generate semantic objects corresponding to locations of the base map. For example, a bounding polygon is drawn by the human annotator that intersects at least one globally consistent polyline. Intersecting points between the bounding polygon, at least one globally consistent polyline, and interior points of the globally consistent polylines within the bounding polygon are determined. A convex hull algorithm generates polygons representing semantic objects corresponding to locations of the base map using the intersecting points and the interior points.

By virtue of the implementation of systems, methods, and computer program products described herein, techniques for the unified framework and tooling for lane boundary annotation enables automated generation of globally consistent polylines that represent road geometry instances (e.g., lanes, lane dividers, intersections, and stop lines) for a region of a base map layer. In some cases, regions of polylines are generated from a small number of LiDAR scans (much fewer than the scans used to represent a region of a base map layer), resulting in discontinuous, local polylines that fail to continuously describe a region of the base map. Moreover, the globally consistent polylines as described herein enable a user interface where a human annotator can select an intersection or other area and automatically generate semantic objects associated with the area, without manually identifying each semantic object in the area.

Referring now toFIG.1, illustrated is example environment100in which vehicles that include autonomous systems, as well as vehicles that do not, are operated. As illustrated, environment100includes vehicles102a-102n, objects104a-104n, routes106a-106n, area108, vehicle-to-infrastructure (V2I) device110, network112, remote autonomous vehicle (AV) system114, fleet management system116, and V2I system118. Vehicles102a-102n, vehicle-to-infrastructure (V2I) device110, network112, autonomous vehicle (AV) system114, fleet management system116, and V2I system118interconnect (e.g., establish a connection to communicate and/or the like) via wired connections, wireless connections, or a combination of wired or wireless connections. In some embodiments, objects104a-104ninterconnect with at least one of vehicles102a-102n, vehicle-to-infrastructure (V2I) device110, network112, autonomous vehicle (AV) system114, fleet management system116, and V2I system118via wired connections, wireless connections, or a combination of wired or wireless connections.

Vehicles102a-102n(referred to individually as vehicle102and collectively as vehicles102) include at least one device configured to transport goods and/or people. In some embodiments, vehicles102are configured to be in communication with V2I device110, remote AV system114, fleet management system116, and/or V2I system118via network112. In some embodiments, vehicles102include cars, buses, trucks, trains, and/or the like. In some embodiments, vehicles102are the same as, or similar to, vehicles200, described herein (seeFIG.2). In some embodiments, a vehicle200of a set of vehicles200is associated with an autonomous fleet manager. In some embodiments, vehicles102travel along respective routes106a-106n(referred to individually as route106and collectively as routes106), as described herein. In some embodiments, one or more vehicles102include an autonomous system (e.g., an autonomous system that is the same as or similar to autonomous system202).

Objects104a-104n(referred to individually as object104and collectively as objects104) include, for example, at least one vehicle, at least one pedestrian, at least one cyclist, at least one structure (e.g., a building, a sign, a fire hydrant, etc.), and/or the like. Each object104is stationary (e.g., located at a fixed location for a period of time) or mobile (e.g., having a velocity and associated with at least one trajectory). In some embodiments, objects104are associated with corresponding locations in area108.

Routes106a-106n(referred to individually as route106and collectively as routes106) are each associated with (e.g., prescribe) a sequence of actions (also known as a trajectory) connecting states along which an AV can navigate. Each route106starts at an initial state (e.g., a state that corresponds to a first spatiotemporal location, velocity, and/or the like) and ends at a final goal state (e.g., a state that corresponds to a second spatiotemporal location that is different from the first spatiotemporal location) or goal region (e.g. a subspace of acceptable states (e.g., terminal states)). In some embodiments, the first state includes a location at which an individual or individuals are to be picked-up by the AV and the second state or region includes a location or locations at which the individual or individuals picked-up by the AV are to be dropped-off. In some embodiments, routes106include a plurality of acceptable state sequences (e.g., a plurality of spatiotemporal location sequences), the plurality of state sequences associated with (e.g., defining) a plurality of trajectories. In an example, routes106include only high level actions or imprecise state locations, such as a series of connected roads dictating turning directions at roadway intersections. Additionally, or alternatively, routes106may include more precise actions or states such as, for example, specific target lanes or precise locations within the lane areas and targeted speed at those positions. In an example, routes106include a plurality of precise state sequences along the at least one high level action sequence with a limited lookahead horizon to reach intermediate goals, where the combination of successive iterations of limited horizon state sequences cumulatively correspond to a plurality of trajectories that collectively form the high level route to terminate at the final goal state or region.

Area108includes a physical area (e.g., a geographic region) within which vehicles102can navigate. In an example, area108includes at least one state (e.g., a country, a province, an individual state of a plurality of states included in a country, etc.), at least one portion of a state, at least one city, at least one portion of a city, etc. In some embodiments, area108includes at least one named thoroughfare (referred to herein as a “road”) such as a highway, an interstate highway, a parkway, a city street, etc. Additionally, or alternatively, in some examples area108includes at least one unnamed road such as a driveway, a section of a parking lot, a section of a vacant and/or undeveloped lot, a dirt path, etc. In some embodiments, a road includes at least one lane (e.g., a portion of the road that can be traversed by vehicles102). In an example, a road includes at least one lane associated with (e.g., identified based on) at least one lane marking.

Vehicle-to-Infrastructure (V2I) device110(sometimes referred to as a Vehicle-to-Infrastructure or Vehicle-to-Everything (V2X) device) includes at least one device configured to be in communication with vehicles102and/or V2I infrastructure system118. In some embodiments, V2I device110is configured to be in communication with vehicles102, remote AV system114, fleet management system116, and/or V2I system118via network112. In some embodiments, V2I device110includes a radio frequency identification (RFID) device, signage, cameras (e.g., two-dimensional (2D) and/or three-dimensional (3D) cameras), lane markers, streetlights, parking meters, etc. In some embodiments, V2I device110is configured to communicate directly with vehicles102. Additionally, or alternatively, in some embodiments V2I device110is configured to communicate with vehicles102, remote AV system114, and/or fleet management system116via V2I system118. In some embodiments, V2I device110is configured to communicate with V2I system118via network112.

Network112includes one or more wired and/or wireless networks. In an example, network112includes a cellular network (e.g., a long term evolution (LTE) network, a third generation (3G) network, a fourth generation (4G) network, a fifth generation (5G) network, a code division multiple access (CDMA) network, etc.), a public land mobile network (PLMN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a telephone network (e.g., the public switched telephone network (PSTN), a private network, an ad hoc network, an intranet, the Internet, a fiber optic-based network, a cloud computing network, etc., a combination of some or all of these networks, and/or the like.

Remote AV system114includes at least one device configured to be in communication with vehicles102, V2I device110, network112, fleet management system116, and/or V2I system118via network112. In an example, remote AV system114includes a server, a group of servers, and/or other like devices. In some embodiments, remote AV system114is co-located with the fleet management system116. In some embodiments, remote AV system114is involved in the installation of some or all of the components of a vehicle, including an autonomous system, an autonomous vehicle compute, software implemented by an autonomous vehicle compute, and/or the like. In some embodiments, remote AV system114maintains (e.g., updates and/or replaces) such components and/or software during the lifetime of the vehicle.

Fleet management system116includes at least one device configured to be in communication with vehicles102, V2I device110, remote AV system114, and/or V2I infrastructure system118. In an example, fleet management system116includes a server, a group of servers, and/or other like devices. In some embodiments, fleet management system116is associated with a ridesharing company (e.g., an organization that controls operation of multiple vehicles (e.g., vehicles that include autonomous systems and/or vehicles that do not include autonomous systems) and/or the like).

In some embodiments, V2I system118includes at least one device configured to be in communication with vehicles102, V2I device110, remote AV system114, and/or fleet management system116via network112. In some examples, V2I system118is configured to be in communication with V2I device110via a connection different from network112. In some embodiments, V2I system118includes a server, a group of servers, and/or other like devices. In some embodiments, V2I system118is associated with a municipality or a private institution (e.g., a private institution that maintains V2I device110and/or the like).

The number and arrangement of elements illustrated inFIG.1are provided as an example. There can be additional elements, fewer elements, different elements, and/or differently arranged elements, than those illustrated inFIG.1. Additionally, or alternatively, at least one element of environment100can perform one or more functions described as being performed by at least one different element ofFIG.1. Additionally, or alternatively, at least one set of elements of environment100can perform one or more functions described as being performed by at least one different set of elements of environment100.

Referring now toFIG.2, vehicle200(which may be the same as, or similar to vehicles102ofFIG.1) includes or is associated with autonomous system202, powertrain control system204, steering control system206, and brake system208. In some embodiments, vehicle200is the same as or similar to vehicle102(seeFIG.1). In some embodiments, autonomous system202is configured to confer vehicle200autonomous driving capability (e.g., implement at least one driving automation or maneuver-based function, feature, device, and/or the like that enable vehicle200to be partially or fully operated without human intervention including, without limitation, fully autonomous vehicles (e.g., vehicles that forego reliance on human intervention such as Level 5 ADS-operated vehicles), highly autonomous vehicles (e.g., vehicles that forego reliance on human intervention in certain situations such as Level 4 ADS-operated vehicles), conditional autonomous vehicles (e.g., vehicles that forego reliance on human intervention in limited situations such as Level 3 ADS-operated vehicles) and/or the like. In one embodiment, autonomous system202includes operational or tactical functionality required to operate vehicle200in on-road traffic and perform part or all of Dynamic Driving Task (DDT) on a sustained basis. In another embodiment, autonomous system202includes an Advanced Driver Assistance System (ADAS) that includes driver support features. Autonomous system202supports various levels of driving automation, ranging from no driving automation (e.g., Level 0) to full driving automation (e.g., Level 5). For a detailed description of fully autonomous vehicles and highly autonomous vehicles, reference may be made to SAE International's standard J3016: Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems, which is incorporated by reference in its entirety. In some embodiments, vehicle200is associated with an autonomous fleet manager and/or a ridesharing company.

Autonomous system202includes a sensor suite that includes one or more devices such as cameras202a, LiDAR sensors202b, radar sensors202c, and microphones202d. In some embodiments, autonomous system202can include more or fewer devices and/or different devices (e.g., ultrasonic sensors, inertial sensors, GPS receivers (discussed below), odometry sensors that generate data associated with an indication of a distance that vehicle200has traveled, and/or the like). In some embodiments, autonomous system202uses the one or more devices included in autonomous system202to generate data associated with environment100, described herein. The data generated by the one or more devices of autonomous system202can be used by one or more systems described herein to observe the environment (e.g., environment100) in which vehicle200is located. In some embodiments, autonomous system202includes communication device202e, autonomous vehicle compute202f, drive-by-wire (DBW) system202h, and safety controller202g.

Cameras202ainclude at least one device configured to be in communication with communication device202e, autonomous vehicle compute202f, and/or safety controller202gvia a bus (e.g., a bus that is the same as or similar to bus302ofFIG.3). Cameras202ainclude at least one camera (e.g., a digital camera using a light sensor such as a Charge-Coupled Device (CCD), a thermal camera, an infrared (IR) camera, an event camera, and/or the like) to capture images including physical objects (e.g., cars, buses, curbs, people, and/or the like). In some embodiments, camera202agenerates camera data as output. In some examples, camera202agenerates camera data that includes image data associated with an image. In this example, the image data may specify at least one parameter (e.g., image characteristics such as exposure, brightness, etc., an image timestamp, and/or the like) corresponding to the image. In such an example, the image may be in a format (e.g., RAW, JPEG, PNG, and/or the like). In some embodiments, camera202aincludes a plurality of independent cameras configured on (e.g., positioned on) a vehicle to capture images for the purpose of stereopsis (stereo vision). In some examples, camera202aincludes a plurality of cameras that generate image data and transmit the image data to autonomous vehicle compute202fand/or a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system116ofFIG.1). In such an example, autonomous vehicle compute202fdetermines depth to one or more objects in a field of view of at least two cameras of the plurality of cameras based on the image data from the at least two cameras. In some embodiments, cameras202ais configured to capture images of objects within a distance from cameras202a(e.g., up to 100 meters, up to a kilometer, and/or the like). Accordingly, cameras202ainclude features such as sensors and lenses that are optimized for perceiving objects that are at one or more distances from cameras202a.

In an embodiment, camera202aincludes at least one camera configured to capture one or more images associated with one or more traffic lights, street signs and/or other physical objects that provide visual navigation information. In some embodiments, camera202agenerates traffic light data associated with one or more images. In some examples, camera202agenerates TLD (Traffic Light Detection) data associated with one or more images that include a format (e.g., RAW, JPEG, PNG, and/or the like). In some embodiments, camera202athat generates TLD data differs from other systems described herein incorporating cameras in that camera202acan include one or more cameras with a wide field of view (e.g., a wide-angle lens, a fish-eye lens, a lens having a viewing angle of approximately 120 degrees or more, and/or the like) to generate images about as many physical objects as possible.

Light Detection and Ranging (LiDAR) sensors202binclude at least one device configured to be in communication with communication device202e, autonomous vehicle compute202f, and/or safety controller202gvia a bus (e.g., a bus that is the same as or similar to bus302ofFIG.3). LiDAR sensors202binclude a system configured to transmit light from a light emitter (e.g., a laser transmitter). Light emitted by LiDAR sensors202binclude light (e.g., infrared light and/or the like) that is outside of the visible spectrum. In some embodiments, during operation, light emitted by LiDAR sensors202bencounters a physical object (e.g., a vehicle) and is reflected back to LiDAR sensors202b. In some embodiments, the light emitted by LiDAR sensors202bdoes not penetrate the physical objects that the light encounters. LiDAR sensors202balso include at least one light detector which detects the light that was emitted from the light emitter after the light encounters a physical object. In some embodiments, at least one data processing system associated with LiDAR sensors202bgenerates an image (e.g., a point cloud, a combined point cloud, and/or the like) representing the objects included in a field of view of LiDAR sensors202b. In some examples, the at least one data processing system associated with LiDAR sensor202bgenerates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and/or the like. In such an example, the image is used to determine the boundaries of physical objects in the field of view of LiDAR sensors202b.

Radio Detection and Ranging (radar) sensors202cinclude at least one device configured to be in communication with communication device202e, autonomous vehicle compute202f, and/or safety controller202gvia a bus (e.g., a bus that is the same as or similar to bus302ofFIG.3). Radar sensors202cinclude a system configured to transmit radio waves (either pulsed or continuously). The radio waves transmitted by radar sensors202cinclude radio waves that are within a predetermined spectrum. In some embodiments, during operation, radio waves transmitted by radar sensors202cencounter a physical object and are reflected back to radar sensors202c. In some embodiments, the radio waves transmitted by radar sensors202care not reflected by some objects. In some embodiments, at least one data processing system associated with radar sensors202cgenerates signals representing the objects included in a field of view of radar sensors202c. For example, the at least one data processing system associated with radar sensor202cgenerates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and/or the like. In some examples, the image is used to determine the boundaries of physical objects in the field of view of radar sensors202c.

Microphones202dincludes at least one device configured to be in communication with communication device202e, autonomous vehicle compute202f, and/or safety controller202gvia a bus (e.g., a bus that is the same as or similar to bus302ofFIG.3). Microphones202dinclude one or more microphones (e.g., array microphones, external microphones, and/or the like) that capture audio signals and generate data associated with (e.g., representing) the audio signals. In some examples, microphones202dinclude transducer devices and/or like devices. In some embodiments, one or more systems described herein can receive the data generated by microphones202dand determine a position of an object relative to vehicle200(e.g., a distance and/or the like) based on the audio signals associated with the data.

Communication device202eincludes at least one device configured to be in communication with cameras202a, LiDAR sensors202b, radar sensors202c, microphones202d, autonomous vehicle compute202f, safety controller202g, and/or DBW (Drive-By-Wire) system202h. For example, communication device202emay include a device that is the same as or similar to communication interface314ofFIG.3. In some embodiments, communication device202eincludes a vehicle-to-vehicle (V2V) communication device (e.g., a device that enables wireless communication of data between vehicles).

Autonomous vehicle compute202finclude at least one device configured to be in communication with cameras202a, LiDAR sensors202b, radar sensors202c, microphones202d, communication device202e, safety controller202g, and/or DBW system202h. In some examples, autonomous vehicle compute202fincludes a device such as a client device, a mobile device (e.g., a cellular telephone, a tablet, and/or the like), a server (e.g., a computing device including one or more central processing units, graphical processing units, and/or the like), and/or the like. In some embodiments, autonomous vehicle compute202fis the same as or similar to autonomous vehicle compute400, described herein. Additionally, or alternatively, in some embodiments autonomous vehicle compute202fis configured to be in communication with an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system114ofFIG.1), a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system116ofFIG.1), a V2I device (e.g., a V2I device that is the same as or similar to V2I device110ofFIG.1), and/or a V2I system (e.g., a V2I system that is the same as or similar to V2I system118ofFIG.1).

Safety controller202gincludes at least one device configured to be in communication with cameras202a, LiDAR sensors202b, radar sensors202c, microphones202d, communication device202e, autonomous vehicle computer202f, and/or DBW system202h. In some examples, safety controller202gincludes one or more controllers (electrical controllers, electromechanical controllers, and/or the like) that are configured to generate and/or transmit control signals to operate one or more devices of vehicle200(e.g., powertrain control system204, steering control system206, brake system208, and/or the like). In some embodiments, safety controller202gis configured to generate control signals that take precedence over (e.g., overrides) control signals generated and/or transmitted by autonomous vehicle compute202f.

DBW system202hincludes at least one device configured to be in communication with communication device202eand/or autonomous vehicle compute202f. In some examples, DBW system202hincludes one or more controllers (e.g., electrical controllers, electromechanical controllers, and/or the like) that are configured to generate and/or transmit control signals to operate one or more devices of vehicle200(e.g., powertrain control system204, steering control system206, brake system208, and/or the like). Additionally, or alternatively, the one or more controllers of DBW system202hare configured to generate and/or transmit control signals to operate at least one different device (e.g., a turn signal, headlights, door locks, windshield wipers, and/or the like) of vehicle200.

Powertrain control system204includes at least one device configured to be in communication with DBW system202h. In some examples, powertrain control system204includes at least one controller, actuator, and/or the like. In some embodiments, powertrain control system204receives control signals from DBW system202hand powertrain control system204causes vehicle200to make longitudinal vehicle motion, such as start moving forward, stop moving forward, start moving backward, stop moving backward, accelerate in a direction, decelerate in a direction or to make lateral vehicle motion such as performing a left turn, performing a right turn, and/or the like. In an example, powertrain control system204causes the energy (e.g., fuel, electricity, and/or the like) provided to a motor of the vehicle to increase, remain the same, or decrease, thereby causing at least one wheel of vehicle200to rotate or not rotate.

Steering control system206includes at least one device configured to rotate one or more wheels of vehicle200. In some examples, steering control system206includes at least one controller, actuator, and/or the like. In some embodiments, steering control system206causes the front two wheels and/or the rear two wheels of vehicle200to rotate to the left or right to cause vehicle200to turn to the left or right. In other words, steering control system206causes activities necessary for the regulation of the y-axis component of vehicle motion.

Brake system208includes at least one device configured to actuate one or more brakes to cause vehicle200to reduce speed and/or remain stationary. In some examples, brake system208includes at least one controller and/or actuator that is configured to cause one or more calipers associated with one or more wheels of vehicle200to close on a corresponding rotor of vehicle200. Additionally, or alternatively, in some examples brake system208includes an automatic emergency braking (AEB) system, a regenerative braking system, and/or the like.

In some embodiments, vehicle200includes at least one platform sensor (not explicitly illustrated) that measures or infers properties of a state or a condition of vehicle200. In some examples, vehicle200includes platform sensors such as a global positioning system (GPS) receiver, an inertial measurement unit (IMU), a wheel speed sensor, a wheel brake pressure sensor, a wheel torque sensor, an engine torque sensor, a steering angle sensor, and/or the like. Although brake system208is illustrated to be located in the near side of vehicle200inFIG.2, brake system208may be located anywhere in vehicle200.

Referring now toFIG.3, illustrated is a schematic diagram of a device300. As illustrated, device300includes processor304, memory306, storage component308, input interface310, output interface312, communication interface314, and bus302. In some embodiments, device300corresponds to at least one device of vehicles102(e.g., at least one device of a system of vehicles102), at least one device of a remote AV system114, and/or one or more devices of network112(e.g., one or more devices of a system of network112). In some embodiments, one or more devices of vehicles102(e.g., one or more devices of a system of vehicles102), at least one device of a remote AV system114, and/or one or more devices of network112(e.g., one or more devices of a system of network112) include at least one device300and/or at least one component of device300. As shown inFIG.3, device300includes bus302, processor304, memory306, storage component308, input interface310, output interface312, and communication interface314.

Bus302includes a component that permits communication among the components of device300. In some cases, processor304includes a processor (e.g., a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), and/or the like), a microphone, a digital signal processor (DSP), and/or any processing component (e.g., a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), and/or the like) that can be programmed to perform at least one function. Memory306includes random access memory (RAM), read-only memory (ROM), and/or another type of dynamic and/or static storage device (e.g., flash memory, magnetic memory, optical memory, and/or the like) that stores data and/or instructions for use by processor304.

Storage component308stores data and/or software related to the operation and use of device300. In some examples, storage component308includes a hard disk (e.g., a magnetic disk, an optical disk, a magneto-optic disk, a solid state disk, and/or the like), a compact disc (CD), a digital versatile disc (DVD), a floppy disk, a cartridge, a magnetic tape, a CD-ROM, RAM, PROM, EPROM, FLASH-EPROM, NV-RAM, and/or another type of computer readable medium, along with a corresponding drive.

Input interface310includes a component that permits device300to receive information, such as via user input (e.g., a touchscreen display, a keyboard, a keypad, a mouse, a button, a switch, a microphone, a camera, and/or the like). Additionally or alternatively, in some embodiments input interface310includes a sensor that senses information (e.g., a global positioning system (GPS) receiver, an accelerometer, a gyroscope, an actuator, and/or the like). Output interface312includes a component that provides output information from device300(e.g., a display, a speaker, one or more light-emitting diodes (LEDs), and/or the like).

In some embodiments, communication interface314includes a transceiver-like component (e.g., a transceiver, a separate receiver and transmitter, and/or the like) that permits device300to communicate with other devices via a wired connection, a wireless connection, or a combination of wired and wireless connections. In some examples, communication interface314permits device300to receive information from another device and/or provide information to another device. In some examples, communication interface314includes an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi® interface, a cellular network interface, and/or the like.

In some embodiments, device300performs one or more processes described herein. Device300performs these processes based on processor304executing software instructions stored by a computer-readable medium, such as memory305and/or storage component308. A computer-readable medium (e.g., a non-transitory computer readable medium) is defined herein as a non-transitory memory device. A non-transitory memory device includes memory space located inside a single physical storage device or memory space spread across multiple physical storage devices.

In some embodiments, software instructions are read into memory306and/or storage component308from another computer-readable medium or from another device via communication interface314. When executed, software instructions stored in memory306and/or storage component308cause processor304to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry is used in place of or in combination with software instructions to perform one or more processes described herein. Thus, embodiments described herein are not limited to any specific combination of hardware circuitry and software unless explicitly stated otherwise.

Memory306and/or storage component308includes data storage or at least one data structure (e.g., a database and/or the like). Device300is capable of receiving information from, storing information in, communicating information to, or searching information stored in the data storage or the at least one data structure in memory306or storage component308. In some examples, the information includes network data, input data, output data, or any combination thereof.

In some embodiments, device300is configured to execute software instructions that are either stored in memory306and/or in the memory of another device (e.g., another device that is the same as or similar to device300). As used herein, the term “module” refers to at least one instruction stored in memory306and/or in the memory of another device that, when executed by processor304and/or by a processor of another device (e.g., another device that is the same as or similar to device300) cause device300(e.g., at least one component of device300) to perform one or more processes described herein. In some embodiments, a module is implemented in software, firmware, hardware, and/or the like.

The number and arrangement of components illustrated inFIG.3are provided as an example. In some embodiments, device300can include additional components, fewer components, different components, or differently arranged components than those illustrated inFIG.3. Additionally or alternatively, a set of components (e.g., one or more components) of device300can perform one or more functions described as being performed by another component or another set of components of device300.

Referring now toFIG.4, illustrated is an example block diagram of an autonomous vehicle compute400(sometimes referred to as an “AV stack”). As illustrated, autonomous vehicle compute400includes perception system402(sometimes referred to as a perception module), planning system404(sometimes referred to as a planning module), localization system406(sometimes referred to as a localization module), control system408(sometimes referred to as a control module), and database410. In some embodiments, perception system402, planning system404, localization system406, control system408, and database410are included and/or implemented in an autonomous navigation system of a vehicle (e.g., autonomous vehicle compute202fof vehicle200). Additionally, or alternatively, in some embodiments perception system402, planning system404, localization system406, control system408, and database410are included in one or more standalone systems (e.g., one or more systems that are the same as or similar to autonomous vehicle compute400and/or the like). In some examples, perception system402, planning system404, localization system406, control system408, and database410are included in one or more standalone systems that are located in a vehicle and/or at least one remote system as described herein. In some embodiments, any and/or all of the systems included in autonomous vehicle compute400are implemented in software (e.g., in software instructions stored in memory), computer hardware (e.g., by microprocessors, microcontrollers, application-specific integrated circuits (ASICs), Field Programmable Gate Arrays (FPGAs), and/or the like), or combinations of computer software and computer hardware. It will also be understood that, in some embodiments, autonomous vehicle compute400is configured to be in communication with a remote system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system114, a fleet management system116that is the same as or similar to fleet management system116, a V2I system that is the same as or similar to V2I system118, and/or the like).

In some embodiments, perception system402receives data associated with at least one physical object (e.g., data that is used by perception system402to detect the at least one physical object) in an environment and classifies the at least one physical object. In some examples, perception system402receives image data captured by at least one camera (e.g., cameras202a), the image associated with (e.g., representing) one or more physical objects within a field of view of the at least one camera. In such an example, perception system402classifies at least one physical object based on one or more groupings of physical objects (e.g., bicycles, vehicles, traffic signs, pedestrians, and/or the like). In some embodiments, perception system402transmits data associated with the classification of the physical objects to planning system404based on perception system402classifying the physical objects.

In some embodiments, planning system404receives data associated with a destination and generates data associated with at least one route (e.g., routes106) along which a vehicle (e.g., vehicles102) can travel along toward a destination. In some embodiments, planning system404periodically or continuously receives data from perception system402(e.g., data associated with the classification of physical objects, described above) and planning system404updates the at least one trajectory or generates at least one different trajectory based on the data generated by perception system402. In other words, planning system404may perform tactical function-related tasks that are required to operate vehicle102in on-road traffic. Tactical efforts involve maneuvering the vehicle in traffic during a trip, including but not limited to deciding whether and when to overtake another vehicle, change lanes, or selecting an appropriate speed, acceleration, deceleration, etc. In some embodiments, planning system404receives data associated with an updated position of a vehicle (e.g., vehicles102) from localization system406and planning system404updates the at least one trajectory or generates at least one different trajectory based on the data generated by localization system406.

In some embodiments, localization system406receives data associated with (e.g., representing) a location of a vehicle (e.g., vehicles102) in an area. In some examples, localization system406receives LiDAR data associated with at least one point cloud generated by at least one LiDAR sensor (e.g., LiDAR sensors202b). In certain examples, localization system406receives data associated with at least one point cloud from multiple LiDAR sensors and localization system406generates a combined point cloud based on each of the point clouds. In these examples, localization system406compares the at least one point cloud or the combined point cloud to two-dimensional (2D) and/or a three-dimensional (3D) map of the area stored in database410. Localization system406then determines the position of the vehicle in the area based on localization system406comparing the at least one point cloud or the combined point cloud to the map. In some embodiments, the map includes a combined point cloud of the area generated prior to navigation of the vehicle. In some embodiments, maps include, without limitation, high-precision maps of the roadway geometric properties, maps describing road network connectivity properties, maps describing roadway physical properties (such as traffic speed, traffic volume, the number of vehicular and cyclist traffic lanes, lane width, lane traffic directions, or lane marker types and locations, or combinations thereof), and maps describing the spatial locations of road features such as crosswalks, traffic signs or other travel signals of various types. In some embodiments, the map is generated in real-time based on the data received by the perception system.

In another example, localization system406receives Global Navigation Satellite System (GNSS) data generated by a global positioning system (GPS) receiver. In some examples, localization system406receives GNSS data associated with the location of the vehicle in the area and localization system406determines a latitude and longitude of the vehicle in the area. In such an example, localization system406determines the position of the vehicle in the area based on the latitude and longitude of the vehicle. In some embodiments, localization system406generates data associated with the position of the vehicle. In some examples, localization system406generates data associated with the position of the vehicle based on localization system406determining the position of the vehicle. In such an example, the data associated with the position of the vehicle includes data associated with one or more semantic properties corresponding to the position of the vehicle.

In some embodiments, control system408receives data associated with at least one trajectory from planning system404and control system408controls operation of the vehicle. In some examples, control system408receives data associated with at least one trajectory from planning system404and control system408controls operation of the vehicle by generating and transmitting control signals to cause a powertrain control system (e.g., DBW system202h, powertrain control system204, and/or the like), a steering control system (e.g., steering control system206), and/or a brake system (e.g., brake system208) to operate. For example, control system408is configured to perform operational functions such as a lateral vehicle motion control or a longitudinal vehicle motion control. The lateral vehicle motion control causes activities necessary for the regulation of the y-axis component of vehicle motion. The longitudinal vehicle motion control causes activities necessary for the regulation of the x-axis component of vehicle motion. In an example, where a trajectory includes a left turn, control system408transmits a control signal to cause steering control system206to adjust a steering angle of vehicle200, thereby causing vehicle200to turn left. Additionally, or alternatively, control system408generates and transmits control signals to cause other devices (e.g., headlights, turn signal, door locks, windshield wipers, and/or the like) of vehicle200to change states.

In some embodiments, perception system402, planning system404, localization system406, and/or control system408implement at least one machine learning model (e.g., at least one multilayer perceptron (MLP), at least one convolutional neural network (CNN), at least one recurrent neural network (RNN), at least one autoencoder, at least one transformer, and/or the like). In some examples, perception system402, planning system404, localization system406, and/or control system408implement at least one machine learning model alone or in combination with one or more of the above-noted systems. In some examples, perception system402, planning system404, localization system406, and/or control system408implement at least one machine learning model as part of a pipeline (e.g., a pipeline for identifying one or more objects located in an environment and/or the like). An example of an implementation of a machine learning model is included below with respect toFIGS.4B-4D.

Database410stores data that is transmitted to, received from, and/or updated by perception system402, planning system404, localization system406and/or control system408. In some examples, database410includes a storage component (e.g., a storage component that is the same as or similar to storage component308ofFIG.3) that stores data and/or software related to the operation and uses at least one system of autonomous vehicle compute400. In some embodiments, database410stores data associated with 2D and/or 3D maps of at least one area. In some examples, database410stores data associated with 2D and/or 3D maps of a portion of a city, multiple portions of multiple cities, multiple cities, a county, a state, a State (e.g., a country), and/or the like). In such an example, a vehicle (e.g., a vehicle that is the same as or similar to vehicles102and/or vehicle200) can drive along one or more drivable regions (e.g., single-lane roads, multi-lane roads, highways, back roads, off road trails, and/or the like) and cause at least one LiDAR sensor (e.g., a LiDAR sensor that is the same as or similar to LiDAR sensors202b) to generate data associated with an image representing the objects included in a field of view of the at least one LiDAR sensor.

In some embodiments, database410can be implemented across a plurality of devices. In some examples, database410is included in a vehicle (e.g., a vehicle that is the same as or similar to vehicles102and/or vehicle200), an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system114, a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system116ofFIG.1, a V2I system (e.g., a V2I system that is the same as or similar to V2I system118ofFIG.1) and/or the like.

Referring now toFIG.4B, illustrated is a diagram of an implementation of a machine learning model. More specifically, illustrated is a diagram of an implementation of a convolutional neural network (CNN)420. For purposes of illustration, the following description of CNN420will be with respect to an implementation of CNN420by perception system402. However, it will be understood that in some examples CNN420(e.g., one or more components of CNN420) is implemented by other systems different from, or in addition to, perception system402such as planning system404, localization system406, and/or control system408. While CNN420includes certain features as described herein, these features are provided for the purpose of illustration and are not intended to limit the present disclosure.

CNN420includes a plurality of convolution layers including first convolution layer422, second convolution layer424, and convolution layer426. In some embodiments, CNN420includes sub-sampling layer428(sometimes referred to as a pooling layer). In some embodiments, sub-sampling layer428and/or other subsampling layers have a dimension (i.e., an amount of nodes) that is less than a dimension of an upstream system. By virtue of sub-sampling layer428having a dimension that is less than a dimension of an upstream layer, CNN420consolidates the amount of data associated with the initial input and/or the output of an upstream layer to thereby decrease the amount of computations necessary for CNN420to perform downstream convolution operations. Additionally, or alternatively, by virtue of sub-sampling layer428being associated with (e.g., configured to perform) at least one subsampling function (as described below with respect toFIGS.4C and4D), CNN420consolidates the amount of data associated with the initial input.

Perception system402performs convolution operations based on perception system402providing respective inputs and/or outputs associated with each of first convolution layer422, second convolution layer424, and convolution layer426to generate respective outputs. In some examples, perception system402implements CNN420based on perception system402providing data as input to first convolution layer422, second convolution layer424, and convolution layer426. In such an example, perception system402provides the data as input to first convolution layer422, second convolution layer424, and convolution layer426based on perception system402receiving data from one or more different systems (e.g., one or more systems of a vehicle that is the same as or similar to vehicle102), a remote AV system that is the same as or similar to remote AV system114, a fleet management system that is the same as or similar to fleet management system116, a V2I system that is the same as or similar to V2I system118, and/or the like). A detailed description of convolution operations is included below with respect toFIG.4C.

In some embodiments, perception system402provides data associated with an input (referred to as an initial input) to first convolution layer422and perception system402generates data associated with an output using first convolution layer422. In some embodiments, perception system402provides an output generated by a convolution layer as input to a different convolution layer. For example, perception system402provides the output of first convolution layer422as input to sub-sampling layer428, second convolution layer424, and/or convolution layer426. In such an example, first convolution layer422is referred to as an upstream layer and sub-sampling layer428, second convolution layer424, and/or convolution layer426are referred to as downstream layers. Similarly, in some embodiments perception system402provides the output of sub-sampling layer428to second convolution layer424and/or convolution layer426and, in this example, sub-sampling layer428would be referred to as an upstream layer and second convolution layer424and/or convolution layer426would be referred to as downstream layers.

In some embodiments, perception system402processes the data associated with the input provided to CNN420before perception system402provides the input to CNN420. For example, perception system402processes the data associated with the input provided to CNN420based on perception system402normalizing sensor data (e.g., image data, LiDAR data, radar data, and/or the like).

In some embodiments, CNN420generates an output based on perception system402performing convolution operations associated with each convolution layer. In some examples, CNN420generates an output based on perception system402performing convolution operations associated with each convolution layer and an initial input. In some embodiments, perception system402generates the output and provides the output as fully connected layer430. In some examples, perception system402provides the output of convolution layer426as fully connected layer430, where fully connected layer430includes data associated with a plurality of feature values referred to as F1, F2 . . . FN. In this example, the output of convolution layer426includes data associated with a plurality of output feature values that represent a prediction.

In some embodiments, perception system402identifies a prediction from among a plurality of predictions based on perception system402identifying a feature value that is associated with the highest likelihood of being the correct prediction from among the plurality of predictions. For example, where fully connected layer430includes feature values F1, F2, . . . FN, and F1 is the greatest feature value, perception system402identifies the prediction associated with F1 as being the correct prediction from among the plurality of predictions. In some embodiments, perception system402trains CNN420to generate the prediction. In some examples, perception system402trains CNN420to generate the prediction based on perception system402providing training data associated with the prediction to CNN420.

Referring now toFIGS.4C and4D, illustrated is a diagram of example operation of CNN440by perception system402. In some embodiments, CNN440(e.g., one or more components of CNN440) is the same as, or similar to, CNN420(e.g., one or more components of CNN420) (seeFIG.4B).

At step450, perception system402provides data associated with an image as input to CNN440(step450). For example, as illustrated, perception system402provides the data associated with the image to CNN440, where the image is a greyscale image represented as values stored in a two-dimensional (2D) array. In some embodiments, the data associated with the image may include data associated with a color image, the color image represented as values stored in a three-dimensional (3D) array. Additionally, or alternatively, the data associated with the image may include data associated with an infrared image, a radar image, and/or the like.

At step455, CNN440performs a first convolution function. For example, CNN440performs the first convolution function based on CNN440providing the values representing the image as input to one or more neurons (not explicitly illustrated) included in first convolution layer442. In this example, the values representing the image can correspond to values representing a region of the image (sometimes referred to as a receptive field). In some embodiments, each neuron is associated with a filter (not explicitly illustrated). A filter (sometimes referred to as a kernel) is representable as an array of values that corresponds in size to the values provided as input to the neuron. In one example, a filter may be configured to identify edges (e.g., horizontal lines, vertical lines, straight lines, and/or the like). In successive convolution layers, the filters associated with neurons may be configured to identify successively more complex patterns (e.g., arcs, objects, and/or the like).

In some embodiments, CNN440performs the first convolution function based on CNN440multiplying the values provided as input to each of the one or more neurons included in first convolution layer442with the values of the filter that corresponds to each of the one or more neurons. For example, CNN440can multiply the values provided as input to each of the one or more neurons included in first convolution layer442with the values of the filter that corresponds to each of the one or more neurons to generate a single value or an array of values as an output. In some embodiments, the collective output of the neurons of first convolution layer442is referred to as a convolved output. In some embodiments, where each neuron has the same filter, the convolved output is referred to as a feature map.

In some embodiments, CNN440provides the outputs of each neuron of first convolutional layer442to neurons of a downstream layer. For purposes of clarity, an upstream layer can be a layer that transmits data to a different layer (referred to as a downstream layer). For example, CNN440can provide the outputs of each neuron of first convolutional layer442to corresponding neurons of a subsampling layer. In an example, CNN440provides the outputs of each neuron of first convolutional layer442to corresponding neurons of first subsampling layer444. In some embodiments, CNN440adds a bias value to the aggregates of all the values provided to each neuron of the downstream layer. For example, CNN440adds a bias value to the aggregates of all the values provided to each neuron of first subsampling layer444. In such an example, CNN440determines a final value to provide to each neuron of first subsampling layer444based on the aggregates of all the values provided to each neuron and an activation function associated with each neuron of first subsampling layer444.

At step460, CNN440performs a first subsampling function. For example, CNN440can perform a first subsampling function based on CNN440providing the values output by first convolution layer442to corresponding neurons of first subsampling layer444. In some embodiments, CNN440performs the first subsampling function based on an aggregation function. In an example, CNN440performs the first subsampling function based on CNN440determining the maximum input among the values provided to a given neuron (referred to as a max pooling function). In another example, CNN440performs the first subsampling function based on CNN440determining the average input among the values provided to a given neuron (referred to as an average pooling function). In some embodiments, CNN440generates an output based on CNN440providing the values to each neuron of first subsampling layer444, the output sometimes referred to as a subsampled convolved output.

At step465, CNN440performs a second convolution function. In some embodiments, CNN440performs the second convolution function in a manner similar to how CNN440performed the first convolution function, described above. In some embodiments, CNN440performs the second convolution function based on CNN440providing the values output by first subsampling layer444as input to one or more neurons (not explicitly illustrated) included in second convolution layer446. In some embodiments, each neuron of second convolution layer446is associated with a filter, as described above. The filter(s) associated with second convolution layer446may be configured to identify more complex patterns than the filter associated with first convolution layer442, as described above.

In some embodiments, CNN440performs the second convolution function based on CNN440multiplying the values provided as input to each of the one or more neurons included in second convolution layer446with the values of the filter that corresponds to each of the one or more neurons. For example, CNN440can multiply the values provided as input to each of the one or more neurons included in second convolution layer446with the values of the filter that corresponds to each of the one or more neurons to generate a single value or an array of values as an output.

In some embodiments, CNN440provides the outputs of each neuron of second convolutional layer446to neurons of a downstream layer. For example, CNN440can provide the outputs of each neuron of first convolutional layer442to corresponding neurons of a subsampling layer. In an example, CNN440provides the outputs of each neuron of first convolutional layer442to corresponding neurons of second subsampling layer448. In some embodiments, CNN440adds a bias value to the aggregates of all the values provided to each neuron of the downstream layer. For example, CNN440adds a bias value to the aggregates of all the values provided to each neuron of second subsampling layer448. In such an example, CNN440determines a final value to provide to each neuron of second subsampling layer448based on the aggregates of all the values provided to each neuron and an activation function associated with each neuron of second subsampling layer448.

At step470, CNN440performs a second subsampling function. For example, CNN440can perform a second subsampling function based on CNN440providing the values output by second convolution layer446to corresponding neurons of second subsampling layer448. In some embodiments, CNN440performs the second subsampling function based on CNN440using an aggregation function. In an example, CNN440performs the first subsampling function based on CNN440determining the maximum input or an average input among the values provided to a given neuron, as described above. In some embodiments, CNN440generates an output based on CNN440providing the values to each neuron of second subsampling layer448.

At step475, CNN440provides the output of each neuron of second subsampling layer448to fully connected layers449. For example, CNN440provides the output of each neuron of second subsampling layer448to fully connected layers449to cause fully connected layers449to generate an output. In some embodiments, fully connected layers449are configured to generate an output associated with a prediction (sometimes referred to as a classification). The prediction may include an indication that an object included in the image provided as input to CNN440includes an object, a set of objects, and/or the like. In some embodiments, perception system402performs one or more operations and/or provides the data associated with the prediction to a different system, described herein.

Referring now toFIG.5, illustrated are diagrams of an implementation500of a process for map data capture. In some embodiments, implementation500includes an autonomous system504. The autonomous system504is the same as or similar to the autonomous system202ofFIG.2. As shown inFIG.5, the autonomous system504includes a sensor suite including cameras506a, LiDAR sensors506b, radar sensors506c, and microphones506d. The cameras506a, LiDAR sensors506b, radar sensors506c, and microphones506dare the same as or similar to the cameras202a, LiDAR sensors202b, radar sensors202c, and microphones202dofFIG.2. In some embodiments, data captured by the sensor suite is used to generate high definition (HD) maps with globally consistent polylines. In the implementation500, an autonomous system504periodically or continuously receives data from sensors (e.g., cameras506a, LiDAR sensors506b, radar sensors506c, and microphones506d) of a vehicle502. In examples, the sensors capture raw sensor data associated with the environment (e.g., environment100ofFIG.1).

In examples, the raw sensor data includes LiDAR data, where LiDAR data is captured by the LiDAR sensors506b. The LiDAR sensors506bcapture data as the vehicle navigates through the environment along the trajectory. The captured LiDAR data is used to generate at least one point cloud. In some examples, a point cloud is a collection of 2D or 3D points used to construct a representation of the environment. In examples, a LiDAR sensor repeatedly scans the environment in a 360 degree sweep while the vehicle traverses the environment according to the trajectory. The rotational scan of the environment by the LiDAR is colloquially known as full sweep. The sweeps typically overlap such that the same locations are represented in the sweeps of LiDAR data (e.g., point clouds) at different timestamps. The LiDAR data is processed to extract features in a bird's-eye view (BEV). In examples, a BEV is a top down view of the environment. The BEV features extracted from overlapping LiDAR scans are used to generate overlapping rich feature maps.

In some embodiments, the feature maps are integrated into HD maps. In examples, an HD map is a high precision map that enables computer-based navigation systems to determine precise trajectories and other information for navigation in the environment. An HD map is comprehensive and built to support safe and efficient decision-making. An HD map includes several layers, such as a standard base map layer, a geometric layer that describes roadway geometric properties and road network connectivity properties, and a semantic layer that describes roadway physical properties (e.g., the number of vehicular and cyclist traffic lanes, lane width, lane traffic directions, or lane marker types and locations, or any combinations thereof) and spatial locations of road features such as crosswalks, traffic signs or other travel signals of various types. In operation, a localization system (e.g., localization system406ofFIG.4) compares captured sensor data to stored maps to determine a position of a vehicle including the computer-based navigation system in the area. Creation and updating of the HD maps includes visualization of the maps so that human annotators can verify and further annotate the HD maps at a user interface (e.g., input interface310ofFIG.3). In examples, feature maps derived from LiDAR data captured along the various trajectories by LiDAR sensors506bare aggregated to extract visualizations of the environment, such as road geometry including connectivity properties, physical properties, and the spatial locations of road features such as crosswalks, traffic signs or other travel signals of various types. For example, the visualizations are output at an output interface (e.g., output interface312ofFIG.3).

FIG.6is an illustration of map layers600of a high definition map. For ease of illustration, a single intersection is shown by the layers600at a particular range of x- and y-coordinate values in a BEV. However, the maps according to the present techniques includes any number of geographic features and can vary in range. In examples, maps according to the present techniques span a region and are globally consistent across the region. For example, the large region is a subset of a city where the x- and y-coordinate values correspond to tens of miles of the environment.

In the example ofFIG.6, the base map602is a less detailed map containing general feature information of the region. For example, the base map602includes standard geographic information associated with the landscape. In examples, the base map is 2D is a standard map obtained from a third party, such as a map provider. The base map602is a standardized map, without customizations. In examples, the base map602is a standard definition map and does not include road geometry such as connectivity properties, physical properties, and the spatial locations of road features including crosswalks, traffic signs or other travel signals of various types.

In examples, feature maps determined from LiDAR data are used to augment the base map602with road geometry and road features. For example, as a vehicle navigates along a trajectory in a region corresponding to at least one base map, LiDAR scans of the environment are captured. In the example ofFIG.6, features are extracted from the overlapping LiDAR scans. The features are input to a trained neural network that outputs rich feature maps, augmented with polylines. The rich feature maps are aggregated to generate globally consistent polylines610creating road geometry instances of a geometric layer604. Based on the generated globally consistent polylines610, human annotators can draw bounding boxes to indicate insertion of globally consistent lane boundary annotations620. As shown inFIG.6, the semantic layer606includes semantic information such as globally consistent lane boundary annotations620that demarcate semantic features of the environment. In examples, lane boundary annotations are markings of a map that identify locations corresponding to boundaries associated with lanes of travel, such as lane boundaries that segment driveable areas into lanes, curbside boundaries, and other road geometry including connectivity properties, physical properties, and road features such as crosswalks, traffic signs or other travel signals of various types.

FIG.7Ashows overlapping feature maps700A along a trajectory702. The overlapping feature maps700A are rich feature maps based on features extracted from LiDAR scans captured as the vehicle navigates along the trajectory702. In examples, the trajectory702corresponds to locations of the base map602ofFIG.6. As shown inFIG.7A, the trajectory702is indicated by a series of arrows. Each respective rich feature map704A . . .704N is represented by a rectangle. In examples, a large number of rich feature maps representing a region are aggregated to create globally consistent polylines for the region. Globally consistent polylines span a region that is, for example, equivalent to a subset of a city. Some techniques generate polylines based on a few scans or frames of LiDAR data, resulting in globally inconsistent polylines. The inconsistent polylines increase the annotation burden placed on human annotators that then have to compensate for discontinuities by manually updating the HD map.

The present techniques enable a globally consistent HD map region. In some embodiments, polylines are generated based on features extracted from overlapping LiDAR scans. For example, the LiDAR data is captured and converted to a BEV. LiDAR data includes, for example, coordinates (e.g., x, y, z) and reflectivity information for each point scanned by the LiDAR. Features are extracted from the LiDAR data in the BEV. In some embodiments, the features are input to a trained machine learning model to obtain rich feature maps. In examples, rich feature maps include one or more polylines. The rich feature maps are aggregated and used to generate a raster image where each point (e.g., cell, pixel) is located in a two dimensional image based on the corresponding x- and y-coordinates. In the aggregated rich feature maps, the value for each point in the image is a floating point value that corresponds to the aggregated polylines at a respective point. In examples, the raster image is an array of cells or pixels organized into rows and columns (e.g., a grid) where each cell or pixel contains a value representing information. In some embodiments, the rich feature maps are cropped to a rectangular form for ease of processing. The rectangular shape is easier to handle computationally, it can be put into an array and input into a neural network. In some embodiments, for every point of the trajectory702, a spatial extent is obtained in which the LiDAR scans are relevant. The rich feature maps704A . . .704N are cropped to correspond to the spatial extent of the LiDAR scans. As a vehicle travels along the specified trajectory702, the LiDAR scans and resulting rich feature maps704A . . .704N overlap. For example, the rich feature maps704A . . .704N overlap at reference numbers706and708. The present techniques aggregate the rich feature maps, and use the aggregated rich feature maps to obtain a raster image.

FIG.7Bshows predicted raster images according to varying aggregation functions. In some embodiments, aggregation functions are used to determine a value for each location (e.g., locations corresponding to a base map) based on multiple overlapping feature maps. Accordingly, in some embodiments the aggregation functions aggregate rich feature maps such as the overlapping rich feature maps704A . . .704N ofFIG.7A. In examples, the aggregation functions obtain floating point values from N feature maps that correspond to the elevation or height (e.g., z-coordinate) at a respective point of the base map. The aggregation functions determine a final value for the respective point in the raster image based on at least one feature map that includes the respective point. In the raster images720,722, and724, the thickness or intensity of particular areas indicates a higher response (e.g., presence of data values) of a particular aggregation function. In the example ofFIG.7B, a raster image720is generated according to a maximum aggregation function; raster image722is generated according to a minimum aggregation function; and raster image724is generated according to a mean aggregation function.

The performance of the aggregation functions is quantified by statistical measures. For example, the resulting aggregated raster image is evaluated in view of the number of false positives, false negatives, precision, recall, or any combinations thereof. A false positive is an error that indicates a condition exists when it actually does not exist. A false negative is an error that incorrectly indicates that a condition does not exist. A true positive is a correctly indicated positive condition, and a true negative is a correctly indicated negative condition. The precision is the number of true positives divided by the sum of true positives and false positives. Similarly, the recall is the number of true positives divided by the sum of true positives and false positives.

A raster image720is generated according to a maximum aggregation function. The maximum aggregation function obtains raster image720by evaluating the values obtained for a particular cell or pixel corresponding to a location of the base map. The values are evaluated, and the highest (e.g., maximum) value from the multiple feature maps is retained as a final value for the cell or pixel. In some embodiments, the maximum aggregation function maximizes recall over precision. The maximum aggregation function is associated with a response that includes a higher number of false positives and a fewer number of false negatives when compared to other aggregation functions. As shown in raster image720, the higher number of false positives results in dense polylines that indicate a road geometry exists when it actually does not exist.

A raster image722is generated according to a minimum aggregation function. The minimum aggregation function obtains raster image722by evaluating the values obtained for a particular cell or pixel corresponding to a location of the base map. The values are evaluated, and the lowest (e.g., minimum) value from the multiple feature maps is retained as a final value for the cell or pixel. In some embodiments, the minimum aggregation function maximizes precision over recall. The minimum aggregation function is associated with a response that includes a higher number of false negatives and a fewer number of false positives when compared to other aggregation functions. As shown in raster image722, the higher number of false negatives results in sparse polylines that incorrectly indicate that road geometry is not present.

A raster image724is generated according to a mean aggregation function. The mean aggregation function obtains raster image724by evaluating the values obtained for a particular cell or pixel corresponding to a location of the base map. The values are evaluated, and an average (e.g., mean) value is calculated based on the values obtained from the multiple feature maps. The mean aggregation function manages the tradeoffs between the maximum aggregation function and minimum aggregation function. As shown in raster image724, the response of the mean aggregation function results in polylines are thicker than those in the raster image722, but not as thick as the polylines in raster image720.

FIG.8shows the extraction of geometry instances from a raster of aggregated predictions. In examples, the raster802of aggregated predictions is obtained by applying an aggregation function (e.g., aggregation functions700B ofFIG.7) to N rich feature maps (e.g., rich feature maps704A . . .704N ofFIG.7A). Vectorization804is applied to the raster802of aggregated predictions to obtain extracted geometry instances806. In examples, vectorization804is an image processing algorithm that converts pixel-based feature maps to an ordered vector line strings.

In examples, the higher the number of overlapping feature maps obtained to generate the globally consistent polylines, the higher the confidence in the polylines. The present techniques enable a smooth response by using all of the information captured in LiDAR scans as represented in the rich feature maps. In examples, the rich feature maps use floating-point values to represent features. This results in a better estimate of the global polylines rather than simple aggregation of polylines generated from a small number of LiDAR scans. The polylines according to the present techniques are continuous within a region, and a large number of rich feature maps are aggregated for each region. The vectorization procedure enables extraction of roadway geometry based on the aggregated prediction of polylines. For example, the aggregated polylines represent varying, overlapping lane boundaries. Vectorization extracts road geometry, such as lane boundaries, curbside boundaries, connectivity properties of the roads, and physical (topological) properties of the road.

Referring now toFIG.9, illustrated is a flowchart of a process900for that enables polyline generation. In some embodiments, one or more of the steps described with respect to process900are performed (e.g., completely, partially, and/or the like) by AV compute202fofFIG.2or device300ofFIG.3. Additionally, or alternatively, in some embodiments one or more steps described with respect to process900are performed (e.g., completely, partially, and/or the like) by another device or group of devices separate from or including autonomous system202, such as the remote AV system114ofFIG.1.

At block902, sensor data is obtained along a trajectory corresponding to locations of a base map. At block904, features are extracted from the sensor data in a bird's eye view. In examples, the features are extracted from overlapping LiDAR scans. The LiDAR scans are obtained as a vehicle navigates a trajectory

At block906, the features are input into a trained neural network. The trained neural network outputs rich feature maps with polylines corresponding to the LiDAR scans. The rich feature maps are represented as floating point values. At block908, the overlapping rich feature maps are aggregated according to an aggregation function to obtain raster images of a region. In examples, the aggregation function is a maximum aggregation function, minimum aggregation function, or a mean aggregation function. In examples, vector data representing the rich feature maps is input to a graph neural network, which outputs globally consistent polylines.

At block910, the vectorization is applied to the raster images. Vectorization includes, for example, skeletonization, graph-based geometry extraction, and sparsification. Vectorization extracts roadway geometry. The roadway geometry (e.g., geometry instances604ofFIG.6) is represented by globally consistent polylines (e.g., polylines610ofFIG.6). In examples, the roadway geometry corresponds to the base map. The globally consistent polylines can be used to obtain additional semantic information. In examples, the globally consistent polylines are stored, wherein the globally consistent polylines enable localization as a vehicle navigates the locations of the base map. In examples, semantic information is extracted from the globally consistent polylines.

After obtaining the globally consistent polylines, additional intricate annotations are added to the polylines. For example, the annotations include lane annotations, association information such as baseline paths, and the like that are fine tuned to obtain a HD map for consumption by a computer-based navigation system. The lane annotations include, for example, traffic lights, traffic light direction, crosswalks, stop lines. A variety of semantic information is embedded in the HD map by automatically generating semantic objects.

In embodiments, a customized user interface (e.g., input interface310ofFIG.3) enables a human annotator to broadly select areas of the map for automated semantic object generation. For example, the broad selection defines geospatial bounds to constrain an area subject to automatic generation of semantic objects. In embodiments, the semantic objects are represented in the HD map as polygons that demarcate semantic features of the environment. In this manner, the globally consistent polylines enable a user interface with visualizations including the polylines and base map of a region for human annotation, and eliminates the need for human annotators to correct or compensate for discontinuities in polylines, which creates discontinuities in geometric instances or geometric map layer. For example, some techniques are limited to determining polylines based on a few LiDAR scans. The limited LiDAR scans result in discontinuous polylines, which are corrected by human annotators. Referring toFIG.6, globally consistent lane boundary annotations620are shown.

FIG.10shows annotations applied to polylines to obtain globally consistent lane boundary annotations. In the example ofFIG.10, an annotation process is illustrated at reference number1020. Polylines1002A-1002D are shown (collectively referred to as polylines1002). A human annotator manually inserts a bounding polygon1004including at least one polyline. For example, the manually drawn bounding polygon1004is drawn by semantic annotator to determine parts of generated polylines to be used to generate a desired intersection or lane polygon. As shown inFIG.10, the polylines include one or more points or nodes. In examples, points are inserted along the polylines at intersections with the bounding polygon1004or at polylines completely encompassed by the bounding polygon1004. The manually drawn bounding polygon1004intersects with the generated polylines1002at intersecting points1006. The result is shown at reference number1030, with the result polygon1010. Thus, human annotators are used to generate the resulting semantic polygons. However, the human annotators will not draw with as much detail or burden as needed with globally inconsistent polylines.

In examples, a customized user interface (e.g., input interface310ofFIG.3) enables a human annotator to broadly select areas of the map for automated semantic object generation by drawing a bounding polygon. In examples, the custom user interface includes integrated operational workflow management. For example, annotations are tracked through project management tools. Areas of the map with annotation issues are assigned a ticket through a ticketing system and tracked until a resolution is reached. Annotations are associated with integrated change management, where the history of changes to the annotations, the parties responsible for respect change changes, and the like are stored and rendered at the customized display. In examples, the history of changes includes details associated with the review, approval, and rejection of changes to the annotations.

Referring now toFIG.11, illustrated is a flowchart of a process1100for a unified framework and tooling for lane boundary annotation. In some embodiments, one or more of the steps described with respect to process1100are performed (e.g., completely, partially, and/or the like) by AV compute202fofFIG.2or device300ofFIG.3. Additionally, or alternatively, in some embodiments one or more steps described with respect to process1100are performed (e.g., completely, partially, and/or the like) by another device or group of devices separate from or including autonomous system202, such as the remote AV system114ofFIG.1.

At block1102, polylines are generated. In examples, polylines are generated according to the process900described with respect toFIG.9. At block1104, a human annotator draws an intersecting bounding polygon comprising at least one polyline.

At block1106, intersecting points between the generated polylines and manually drawn bounding polygon are determined. Additionally, points of the generated polylines within the manually drawn bounding polygon are determined.

At block1108convex hulls are constructed using the intersecting points between the generated polylines and manually drawn bounding polygon and the points of the generated polylines within the manually drawn bounding polygon. In some embodiments, convex hull algorithms are used to generate the convex hulls. For example, a convex hull algorithm is executed on the intersecting points between the manually drawn bounding polygon and the generated polygons, as well as polyline points inside the bounding polygon. The polyline points inside the bounding polygon are nodes generated while aggregating the polylines.

Based on the convex hulls, polygons (e.g., polygons620ofFIG.6) corresponding to semantic objects of the base map are obtained at block1110. This automatic generation of polygons corresponding to semantic objects expedites annotations. Further, the present techniques include a user interface that enables an annotator to broadly define an intersection or area without correction of discontinuous polylines.

According to some non-limiting embodiments or examples, provided is a method. The method includes obtaining, with at least one processor, sensor data along a trajectory corresponding to locations of a base map. The method also includes extracting, with the at least one processor, features from the sensor data, and inputting, with the at least one processor, the features into a trained neural network that outputs overlapping rich feature maps comprising polylines. The method includes aggregating, with the at least one processor, the overlapping rich feature maps according to an aggregation function to obtain raster images. Additionally, the method includes applying vectorization, with the at least one processor, to the raster images to extract roadway geometry represented by globally consistent polylines.

According to some non-limiting embodiments or examples, provided is a system including at least one processor and at least one non-transitory storage media. The at least one non-transitory storage media stores instructions that, when executed by the at least one processor, cause the at least one processor to perform operations. The operations include obtaining sensor data along a trajectory corresponding to locations of a base map and extracting features from the sensor data. The method includes inputting the features into a trained neural network that outputs overlapping rich feature maps comprising polylines, and aggregating the overlapping rich feature maps according to an aggregation function to obtain raster images. Additionally, the method includes applying vectorization to the raster images to extract roadway geometry represented by globally consistent polylines.

According to some non-limiting embodiments or examples, provided is at least one non-transitory storage media storing instructions that, when executed by at least one processor, cause the at least one processor to perform operations. The operations include obtaining sensor data along a trajectory corresponding to locations of a base map and extracting features from the sensor data. The method includes inputting the features into a trained neural network that outputs overlapping rich feature maps comprising polylines, and aggregating the overlapping rich feature maps according to an aggregation function to obtain raster images. Additionally, the method includes applying vectorization to the raster images to extract roadway geometry represented by globally consistent polylines.

Further non-limiting aspects or embodiments are set forth in the following numbered clauses:

Clause 1: A method, comprising: obtaining, with at least one processor, sensor data along a trajectory corresponding to locations of a base map; extracting, with the at least one processor, features from the sensor data; inputting, with the at least one processor, the features into a trained neural network that outputs overlapping rich feature maps comprising polylines; aggregating, with the at least one processor, the overlapping rich feature maps according to an aggregation function to obtain raster images; and applying vectorization, with the at least one processor, to the raster images to extract roadway geometry represented by globally consistent polylines.

Clause 2: The method of clause 1, further comprising: drawing a bounding polygon that intersects at least one globally consistent polyline; determining intersecting points between the bounding polygon and the at least one globally consistent polyline and interior points of the globally consistent polylines within the bounding polygon; and constructing convex hulls using the intersecting points and the interior points to generate polygons representing semantic objects corresponding to locations of the base map.

Clause 3: The method of clause 2, wherein the semantic objects represent road network connectivity properties, roadway physical properties, road features, or any combinations thereof.

Clause 4: The method of any one of clauses 1-3, wherein the aggregation function is one of a maximum aggregation function, a minimum aggregation function, or a mean aggregation function.

Clause 5: The method of any one of clauses I-4, wherein the trained neural network outputs rich feature maps in a floating point format.

Clause 6: The method of any one of clauses 1-5, wherein the sensor data comprises overlapping LiDAR scans.

Clause 7: The method of any one of clauses I-6, comprising storing the globally consistent polylines, wherein the globally consistent polylines enable localization as a vehicle navigates locations corresponding to the base map.

Clause 8: The method of any one of clauses 1-7, comprising storing the base map, globally consistent polylines, and polygons representing semantic objects as a high definition map.

Clause 9: The method of any one of clauses 1-8, wherein a human annotator draws a bounding polygon that intersects at least one globally consistent polyline to insert semantic objects into s semantic map layer corresponding to the base map.

Clause 10: The method of any one of clauses 1-9, wherein the road geometry comprises lanes, lane dividers, intersections, and stop lines.

Clause 11. A system comprising: at least one processor; and a memory storing instructions thereon that, when executed by the at least one processor, cause the at least one processor to perform operations, comprising: obtaining sensor data along a trajectory corresponding to locations of a base map; extracting features from the sensor data; inputting the features into a trained neural network that outputs overlapping rich feature maps comprising polylines; aggregating the overlapping rich feature maps according to an aggregation function to obtain raster images; and applying vectorization to the raster images to extract roadway geometry represented by globally consistent polylines.

Clause 12. The system of clause 11, further comprising: drawing a bounding polygon that intersects at least one globally consistent polyline; determining intersecting points between the bounding polygon and the at least one globally consistent polyline and interior points of the globally consistent polylines within the bounding polygon; and constructing convex hulls using the intersecting points and the interior points to generate polygons representing semantic objects corresponding to locations of the base map.

Clause 13: The system of clause 12, wherein the semantic objects represent road network connectivity properties, roadway physical properties, road features, or any combinations thereof.

Clause 14: The system of any one of clauses 11-13, wherein the aggregation function is one of a maximum aggregation function, a minimum aggregation function, or a mean aggregation function.

Clause 15: The system of any one of clauses 11-14, wherein the trained neural network outputs rich feature maps in a floating point format.

Clause 16: The system of any one of clauses 11-15, wherein the sensor data comprises overlapping LiDAR scans.

Clause 17: The system of any one of clauses 11-16, comprising storing the globally consistent polylines, wherein the globally consistent polylines enable localization as a vehicle navigates locations corresponding to the base map.

Clause 18: The system of any one of clauses 11-17, comprising storing the base map, globally consistent polylines, and polygons representing semantic objects as a high definition map.

Clause 19: A non-transitory, computer-readable storage medium having instructions stored thereon, that when executed by at least one processor, cause the at least one processor to perform operations, comprising: obtaining sensor data along a trajectory corresponding to locations of a base map; extracting features from the sensor data; inputting the features into a trained neural network that outputs overlapping rich feature maps comprising polylines; aggregating the overlapping rich feature maps according to an aggregation function to obtain raster images; and applying vectorization to the raster images to extract roadway geometry represented by globally consistent polylines.

Clause 20: The system of clause 19, further comprising: drawing a bounding polygon that intersects at least one globally consistent polyline; determining intersecting points between the bounding polygon and the at least one globally consistent polyline and interior points of the globally consistent polylines within the bounding polygon; and constructing convex hulls using the intersecting points and the interior points to generate polygons representing semantic objects corresponding to locations of the base map.

In the foregoing description, aspects and embodiments of the present disclosure have been described with reference to numerous specific details that can vary from implementation to implementation. Accordingly, the description and drawings are to be regarded in an illustrative rather than a restrictive sense. The sole and exclusive indicator of the scope of the invention, and what is intended by the applicants to be the scope of the invention, is the literal and equivalent scope of the set of claims that issue from this application, in the specific form in which such claims issue, including any subsequent correction. Any definitions expressly set forth herein for terms contained in such claims shall govern the meaning of such terms as used in the claims. In addition, when we use the term “further comprising,” in the foregoing description or following claims, what follows this phrase can be an additional step or entity, or a sub-step/sub-entity of a previously-recited step or entity.