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Labeling scheme for labeling and generating high-definition map based on trajectories driven by vehicles
Labeling scheme for labeling and generating high-definition map based on trajectories driven by vehicles
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机译:基于车辆驱动的轨迹标记和生成高清地图的标记方案
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摘要
According to one embodiment, perception data describing a set of trajectories driven by a number of vehicles is received at a server from the vehicles or data collection agents over a network. The vehicles were driving through a road segment of a road over a period of time and their driving trajectories were captured. A trajectory analysis is the performed on the perception data using a set of rules to determine driving behaviors of the corresponding vehicles. A lane configuration of the road segment is then determined based on the driving behaviors. A map segment of a navigation map is then updated based on the lane configuration of one or more lanes within the road segment. A higher definition map can be generated based on the updates of the navigation map and the lane configuration, which can be utilized to autonomously drive an ADV subsequently.
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