DE-112024003025-T5 - Mesh-flex techniques for merging navigation charts

DE112024003025T5DE 112024003025 T5DE112024003025 T5DE 112024003025T5DE-112024003025-T5

Abstract

Systems and methods for generating a navigation map are disclosed. In one implementation, a system includes a processor configured to access a navigation map that includes at least a first map segment representing a first geographic region and a second map segment representing a second geographic region; assign a first control point to a first feature represented in the first map segment; assign a second control point to a second feature represented in the second map segment; assign the first control point to the second control point; and use at least one resistance value to distort the position of the first control point from an original position to a distorted position based on the assignment between the first and second control points.

Inventors

SHAPIRA DORI
LEDERMAN JONATHAN JACOB
TUBIS IGOR

Assignees

MOBILEYE VISION TECHNOLOGIES LTD

Dates

Publication Date: 20260507
Application Date: 20240611
Priority Date: 20240611

Claims (20)

A system for generating a navigation map, the system comprising: at least one processor programmed to: access a navigation map that includes at least one first map segment representing a first geographic region and a second map segment representing a second geographic region; assign a first control point to a first feature represented in the first map segment; assign a second control point to a second feature represented in the second map segment; assign the first control point to the second control point; and use at least one resistance value to distort the position of the first control point from an original position to a distorted position based on the assignment between the first and second control points.
System according to Claim 1 , wherein the assignment of the first control point to the second control point is based on the finding that the first feature shown in the first map segment and the second feature shown in the second map segment represent a common feature.
System according to Claim 1 , where distorting the position of the first control point includes distorting the position of the first feature shown in the first map segment.
System according to Claim 1 , where distorting the position of the first control point includes aligning the first control point with the second control point.
System according to Claim 1 , wherein the at least one processor is further programmed to store an updated navigation map that includes a representation of the first feature at the distorted position.
System according to Claim 1 , wherein the first control point is arranged in a grid with a multitude of other first control points.
System according to Claim 1 , wherein using the at least one resistance value to distort the position of the first control point from the original position to the distorted position includes simulating at least one force that resists the distortion of the first control point from the original position to the distorted position.
System according to Claim 7 , wherein the at least one force includes a resistance force relative to an additional first control point associated with the first map segment.
System according to Claim 8 , wherein the at least one resistance value includes a resistance value for an adjacent control point and the resistance force increases according to the resistance value for the adjacent control point as the distance between the first control point and the additional first control point increases.
System according to Claim 9 , wherein the at least one processor is further configured to use the at least one resistance value to distort a position of the additional first control point from an original position to a distorted position.
System according to Claim 7 , where at least one of the forces includes a resistance force relative to the original position of the first control point.
System according to Claim 11 , wherein the at least one resistance value includes a resistance value for an original position point and the resistance force increases according to the resistance value for the original position point as the distance between the distorted position of the first control point and the original position of the first control point increases.
System according to Claim 7 , wherein the at least one resistance value includes a first resistance value and a second resistance value, and the at least one force includes: a first resistance force relative to an additional first control point associated with the first map segment, wherein the first resistance force increases in accordance with the first resistance value as the distance between the first control point and the additional first control point increases; and a second resistance force relative to the original position of the first control point, wherein the second resistance force increases in accordance with the second resistance value as the distance between the distorted position of the first control point and the original position of the first control point increases.
System according to Claim 7 , wherein simulating the at least one force resisting the distortion of the first control point from the original position to the distorted position includes foregoing the simulation of a resistance force relative to an additional first control point associated with the first map segment, based on a finding that the first control point is associated with a first road segment and the additional first control point is associated with a second road segment, the second road segment being different from the first road segment.
System according to Claim 14 , wherein the second road segment is located either above the first road segment, below the first road segment, or adjacent to the first road segment.
System according to Claim 1 , where the first geographical region and the second geographical region are adjacent to each other.
System according to Claim 1 , wherein the first map segment is based on driving information collected from a first set of vehicles that have traveled through a road segment in the first geographical region, and the second map segment is based on driving information collected from a second set of vehicles that have traveled through the road segment in the second geographical region.
System according to Claim 18 , wherein the at least one processor is further programmed to generate the first map segment based on the driving information collected by the first plurality of vehicles and to generate the second map segment based on the driving information collected by the second plurality of vehicles.
System according to Claim 1 , wherein the at least one processor is further programmed to use at least one additional resistance value to distort a position of the second control point from an original position to a distorted position based on the mapping between the first control point and the second control point.
A method for navigating a host vehicle, comprising: Accessing a navigation map that includes at least a first map segment representing a first geographic region and a second map segment representing a second geographic region; Assigning a first checkpoint to a first feature represented in the first map segment; Assigning a second checkpoint to a second feature represented in the second map segment; Assigning the first checkpoint to the second checkpoint; and Using at least one resistance value to distort the position of the first checkpoint from an original position to a distorted position based on the assignment between the first and second checkpoints.

Description

Cross-reference to related registration This application claims priority over preliminary US patent application no. 63/527,672 , which was submitted on July 19, 2023, the contents of which are incorporated herein in their entirety by reference. Technical field The present disclosure relates generally to vehicle navigation and in particular to systems and methods for generating a navigation map. Background information With the steady advancement of technology, the goal of a fully autonomous vehicle capable of navigating roads is drawing closer. Autonomous vehicles may need to consider a multitude of factors and make appropriate decisions based on these factors to reach an intended destination safely and accurately. For example, an autonomous vehicle may need to process and interpret visual information (e.g., information captured by a camera) and may also use information from other sources (e.g., a GPS device, a speed sensor, an accelerometer, a suspension sensor, etc.). At the same time, to navigate to a destination, an autonomous vehicle may also need to identify its position within a specific roadway (e.g., a particular lane within a multi-lane road), navigate alongside other vehicles, avoid obstacles and pedestrians, observe traffic signals and signs, and change lanes at appropriate intersections or junctions. Utilizing and interpreting the vast amounts of information gathered by an autonomous vehicle as it travels to its destination presents a multitude of design challenges. The sheer volume of data (e.g., captured imagery, map data, GPS data, sensor data, etc.) that an autonomous vehicle might require to analyze, retrieve, and/or store poses challenges that could actually limit or even negatively impact autonomous navigation. Furthermore, if an autonomous vehicle relies on traditional map technology for navigation, the sheer volume of data required to store and update the map presents formidable challenges. SUMMARY Embodiments in accordance with the present disclosure provide systems and methods for vehicle navigation. In one embodiment, a system for generating a navigation map may include at least one processor. The at least one processor may be programmed to access a navigation map that includes at least one first map segment representing a first geographic region and a second map segment representing a second geographic region; assign a first control point to a first feature represented in the first map segment; assign a second control point to a second feature represented in the second map segment; assign the first control point to the second control point; and use at least one resistance value to distort the position of the first control point from an original position to a distorted position, based on the assignment between the first and second control points. In one embodiment, a method for generating a navigation map may include: accessing a navigation map that includes at least a first map segment representing a first geographic region and a second map segment representing a second geographic region; mapping a first control point to a first feature represented in the first map segment; mapping a second control point to a second feature represented in the second map segment; mapping the first control point to the second control point; and using at least one resistance value to distort the position of the first control point from an original position to a distorted position based on the mapping between the first control point and the second control point. In another embodiment, a navigation map for use in navigating a host vehicle may comprise: a first map segment representing a first geographic region; a second map segment representing a second geographic region; a first checkpoint associated with a first feature represented in the first map segment; and a second checkpoint associated with a second feature represented in the second map segment. The position of the first checkpoint may be determined using at least one resistance value based on an assignment between the first checkpoint and the second feature represented in the second map segment. and the second control point is distorted from an original position to a distorted position. In accordance with other disclosed embodiments, non-transitory computer-readable storage media can store program instructions that are executed by at least one processor and perform any of the methods described herein. The foregoing general description and the following detailed description are only exemplary and explanatory and do not limit the claims. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included in and form part of this disclosure, illustrate various disclosed embodiments. They show: 1 shows a schematic representation of an exemplary system, in accordance with the disclosed embodiments. 2A Figure 1 shows a schematic side view representation of an exemplary vehicle including a system, in accordance with the disclosed embodiment