Granted Patent B1

US 9,387,854 · App. 14/829,979 · Granted Jul 12, 2016

Abstract

Claims (57)

1. A method comprising:

receiving, using a processor, image data indicative of an environment from at least one sensor of a vehicle, wherein the vehicle is configured to operate in an autonomous mode in the environment, and wherein the vehicle is substantially in a lane of travel of the environment;

comparing the image data to a predetermined image map of a road in the environment indicative of the lane of travel;

based on the comparing, determining a portion of the image data that corresponds to the lane of travel and disregarding a remaining portion of the image data;

performing object detection based on only the determined portion of the image data; and

providing instructions to control the vehicle in the autonomous mode in the environment based on the performed object detection.

2. The method of claim 1 , wherein the comparing comprises projecting the predetermined image map onto the image data.

3. The method of claim 1 , wherein the predetermined image map indicates at least one of a location of the lane of travel or a boundary of the lane of travel, and

wherein comparing the predetermined image map to the image data further comprises:

comparing the image data to at least one of (i) the location of the lane of travel indicated by the predetermined image map, or (ii) the boundary of the lane of travel indicated by the predetermined image map.

4. The method of claim 1 , wherein the portion is a first portion, wherein the lane of travel is a first lane of travel, wherein the predetermined image map of the road in the environment is further indicative of a second lane of travel of the environment, and the method further comprises:

based on the comparing, determining a second portion of the image data that corresponds to the second lane of travel, wherein the second portion of the image data is different than the first portion of the image data, wherein the second lane of travel of the environment is different than the first lane of travel, and wherein the disregarded remaining portion of the image data includes image data other than the first and second portions;

performing additional object detection based on only the first and second portions of the image data; and

providing instructions to control the vehicle in the autonomous mode in the environment based on the performed additional object detection.

5. The method of claim 4 , wherein the predetermined image map indicates at least one of a location of the second lane of travel or a boundary of the second lane of travel, and

wherein comparing the predetermined image map to the image data comprises:

comparing the image data to at least one of (i) the location of the second lane of travel indicated by the predetermined image map, or (ii) the boundary of the second lane of travel indicated by the predetermined image map.

6. The method of claim 4 , wherein the second lane of travel is adjacent to the first lane of travel.

7. The method of claim 1 , wherein the predetermined image map comprises a heading of the vehicle in the environment.

8. The method of claim 1 , wherein determining the portion of the image data that corresponds to the lane of travel comprises determining the portion of the image data to be a portion of the image data that includes features that correspond to predetermined features, indicated in the predetermined image map, that are associated with known lane boundaries of the lane of travel.

9. A vehicle comprising:

at least one sensor configured to receive image data indicative of an environment, wherein the vehicle is configured to operate in an autonomous mode in the environment, and wherein the vehicle is substantially in a lane of travel of the environment;

a computer system, wherein the computer system is configured to:

compare the image data to a predetermined image map of a road in the environment indicative of the lane of travel;

based on the comparing, determine a portion of the image data that corresponds to the lane of travel and disregarding a remaining portion of the image data;

perform object detection based on only the determined portion of the image data; and

provide instructions to control the vehicle in the autonomous mode in the environment based on the performed object detection.

10. The vehicle of claim 9 , wherein the comparing comprises projecting the predetermined image map onto the image data.

11. The vehicle of claim 9 , wherein the predetermined image map indicates at least one of a location of the lane of travel or a boundary of the lane of travel, and

wherein comparing the predetermined image map to the image data further comprises:

comparing the image data to at least one of (i) the location of the lane of travel indicated by the predetermined image map, or (ii) the boundary of the lane of travel indicated by the predetermined image map.

12. The vehicle of claim 9 , wherein the portion is a first portion, wherein the lane of travel is a first lane of travel, wherein the predetermined image map of the road in the environment is further indicative of a second lane of travel of the environment, and the computer system is further configured to:

based on the comparing, determine a second portion of the image data that corresponds to the second lane of travel, wherein the second portion of the image data is different than the first portion of the image data, wherein the second lane of travel of the environment is different than the first lane of travel, and wherein the disregarded remaining portion of the image data includes image data other than the first and second portions;

perform additional object detection based on only the first and second portions of the image data; and

provide instructions to control the vehicle in the autonomous mode in the environment based on the performed additional object detection.

13. The vehicle of claim 12 , wherein the predetermined image map indicates at least one of a location of the second lane of travel or a boundary of the second lane of travel, and

wherein comparing the predetermined image map to the image data comprises:

comparing the image data to at least one of (i) the location of the second lane of travel indicated by the predetermined image map, or (ii) the boundary of the second lane of travel indicated by the predetermined image map.

14. The vehicle of claim 12 , wherein the second lane of travel is adjacent to the first lane of travel.

15. A non-transitory computer readable medium having stored therein instructions that when executed by a computer system in a vehicle, cause the computer system to perform functions comprising:

receiving image data indicative of an environment from at least one sensor of the vehicle, wherein the vehicle is configured to operate in an autonomous mode in the environment, and wherein the vehicle is substantially in a lane of travel of the environment;

comparing the image data to a predetermined image map of a road in the environment indicative of the lane of travel;

based on the comparing, determining a portion of the image data that corresponds to the lane of travel and disregarding a remaining portion of the image data;

performing object detection based on only the determined portion of the image data; and

providing instructions to control the vehicle in the autonomous mode in the environment based on the performed object detection.

16. The non-transitory computer readable medium of claim 15 , wherein the comparing comprises projecting the predetermined image map onto the image data.

17. The non-transitory computer readable medium of claim 15 , wherein the predetermined image map indicates at least one of a location of the lane of travel or a boundary of the lane of travel, and

wherein comparing the predetermined image map to the image data further comprises:

comparing the image data to at least one of (i) the location of the lane of travel indicated by the predetermined image map, or (ii) the boundary of the lane of travel indicated by the predetermined image map.

18. The non-transitory computer readable medium of claim 15 , wherein the predetermined image map comprises a heading of the vehicle in the environment.

19. The non-transitory computer readable medium of claim 15 , wherein the portion is a first portion, wherein the lane of travel is a first lane of travel, wherein the predetermined image map of the road in the environment is further indicative of a second lane of travel of the environment adjacent to the first lane of travel, and the instructions are further executable by the computer system in the vehicle to cause the computer system to perform functions comprising:

based on the comparing, determining a second portion of the image data that corresponds to the second lane of travel, wherein the second portion of the image data is different than the first portion of the image data, wherein the second lane of travel of the environment is different than the first lane of travel, and wherein the disregarded remaining portion of the image data includes image data other than the first and second portions;

performing additional object detection based on only the first and second portions of the image data; and

providing instructions to control the vehicle in the autonomous mode in the environment based on the performed additional object detection.

20. The non-transitory computer readable medium of claim 19 , wherein the predetermined image map indicates at least one of a location of the second lane of travel or a boundary of the second lane of travel, and

wherein comparing the predetermined image map to the image data comprises:

comparing the image data to at least one of (i) the location of the second lane of travel indicated by the predetermined image map, or (ii) the boundary of the second lane of travel indicated by the predetermined image map.

Assignments (6)