Map creation from hybrid data
A method for receiving autonomous vehicle (AV) map data associated with an AV map of a geographic location and coverage map data associated with a coverage map of the geographic location. The AV map data is associated with an AV lane of a roadway in the geographic location, and the coverage map data is associated with a coverage lane of the roadway in the geographic location. The method includes generating a hybrid map of the geographic location based on the AV map data and the coverage map data and providing hybrid map data associated with the hybrid map for routing of an AV. The hybrid map includes the AV lane linked with the coverage lane of the roadway.
1. A method comprising:
receiving, with a computer system comprising one or more processors, autonomous vehicle (AV) map data associated with an AV map of a geographic location, the AV map data describing a plurality of AV lanes, the plurality of AV lanes being lanes in which the AV can operate in a fully-autonomous mode, the plurality of AV lanes comprising a first AV lane of a roadway in the geographic location;
receiving, with the computer system, coverage map data associated with a coverage map of the geographic location, the coverage map data describing a plurality of coverage lanes, the plurality of coverage lanes being lanes in which the AV is not to operate in the fully-autonomous mode, the plurality of coverage lanes comprising a first coverage lane of the roadway in the geographic location;
generating, with the computer system, a hybrid map describing the geographic location based on the AV map data and the coverage map data, wherein the hybrid map includes the first AV lane linked with the first coverage lane;
generating, with the computing system, route data describing a route for an AV, the generating based at least in part on the hybrid map; and
controlling the AV using the route data.
2. The method of claim 1 , wherein generating the hybrid map comprises:
determining an end of the first AV lane that is not linked to another AV lane of the plurality of AV lanes in the AV map based on the AV map data;
determining a roadway segment of the roadway associated with the first AV lane based on the AV map data;
and
generating a link between the first AV lane and the first coverage lane to be included in the hybrid map.
3. The method of claim 2 , wherein generating the link comprises:
determining a distance between the end of the first AV lane and an end of the first coverage lane based on the AV map data and the coverage map data; and
generating a hybrid lane between the end of the first AV lane and the end of the first coverage lane to be included in the hybrid map, the hybrid lane comprising:
a first end linking the end of the first AV lane; and
a second end linking the end of the first coverage lane.
4. The method of claim 1 , further comprising:
generating a hybrid lane between the first AV lane and the first coverage lane, wherein the route includes the first AV lane linked to the hybrid lane and the hybrid lane linked to the first coverage lane.
5. The method of claim 1 , wherein the AV map data is associated with an indication of whether the AV can operate under a fully-autonomous mode in the plurality of AV lanes, and wherein generating the hybrid map further comprises:
modifying the AV map to unlink the first AV lane and a second AV lane of the plurality of AV lanes in the AV map based on the indication.
6. The method of claim 1 , wherein the AV map data is associated with an indication that the AV can operate in the first AV lane under a fully-autonomous mode, and wherein the coverage map data is associated with an indication that the AV can operate in the first coverage lane under a partially-autonomous mode or a manual mode.
7. The method of claim 1 , wherein the AV map data is associated with one or more traversals of the roadway in the geographic location by one or more AVs.
8. A computing system comprising:
one or more processors configured to:
receive autonomous vehicle (AV) map data associated with an AV map of a geographic location, the AV map data describing a plurality of AV lanes, the plurality of AV lanes being lanes in which the AV can operate in a fully-autonomous mode, the plurality of AV lanes comprising a first AV lane of a roadway in the geographic location;
receive coverage map data associated with a coverage map of the geographic location, the coverage map data describing a plurality of coverage lanes, the plurality of coverage lanes being lanes in which the AV is not to operate in the fully-autonomous mode, the plurality of coverage lanes comprising a first coverage lane of the roadway in the geographic location;
generate a hybrid map describing the geographic location based on the AV map data and the coverage map data, wherein the hybrid map includes the first AV lane linked with the first coverage lane;
generating route data describing a route for an AV, the generating based at least in part on the hybrid map; and
controlling the AV using the route data.
9. The computing system of claim 8 , wherein the one or more processors are further configured to:
determine an end of the first AV lane that is not linked to another AV lane of the plurality of AV lanes in the AV map based on the AV map data;
determine a roadway segment of the roadway associated with the first AV lane based on the AV map data;
and
generate a link between the first AV lane and the first coverage lane to be included in the hybrid map.
10. The computing system of claim 9 , wherein the one or more processors are further configured to:
determine a distance between the end of the first AV lane and an end of the first coverage lane based on the AV map data and the coverage map data; and
generate a hybrid lane between the end of the first AV lane and the end of the first coverage lane to be included in the hybrid map, the hybrid lane comprising:
a first end linking the end of the first AV lane; and
a second end linking the end of the first coverage lane.
11. The computing system of claim 8 , wherein the one or more processors are further configured to:
generate a hybrid lane between the first AV lane and the first coverage lane, wherein the route includes the AV lane linked to the hybrid lane and the hybrid lane linked to the first coverage lane.
12. The computing system of claim 8 , wherein the AV map data is associated with an indication of whether the AV can operate under a fully-autonomous mode in the plurality of AV lanes, and wherein the one or more processors are further configured to:
modify the AV map to unlink the first AV lane and a second AV lane of the plurality of AV lanes in the AV map based on the indication.
13. The computing system of claim 8 , wherein the AV map data is associated with an indication that the AV can operate in the first AV lane under a fully-autonomous mode, and wherein the coverage map data is associated with an indication that the AV can operate in the first coverage lane under a partially-autonomous mode or a manual mode.
14. The computing system of claim 8 , wherein the AV map data is associated with one or more traversals of the roadway in the geographic location by one or more AVs.
15. A non-transitory computer-readable medium comprising instructions thereon that, when, executed by one or more processors, cause the one or more processors to perform operations comprising:
receiving autonomous vehicle (AV) map data associated with an AV map of a geographic location, the AV map data describing a plurality of AV lanes, the plurality of AV lanes being lanes in which the AV can operate in a fully-autonomous mode, the plurality of AV lanes comprising a first AV lane of a roadway in the geographic location;
receiving coverage map data associated with a coverage map of the geographic location, the coverage map data describing a plurality of coverage lanes, the plurality of coverage lanes being lanes in which the AV is not to operate in the fully-autonomous mode, the plurality of coverage lanes comprising a first coverage lane of the roadway in the geographic location;
generating a hybrid map describing the geographic location based on the AV map data and the coverage map data, wherein the hybrid map includes the first AV lane linked with the first coverage lane;
generating route data describing a route for an AV, the generating based at least in part on the hybrid map; and
controlling the AV using the route data.
16. The medium of claim 15 , wherein generating the hybrid map comprises:
determining an end of the first AV lane that is not linked to another AV lane of the plurality of AV lanes in the AV map based on the AV map data;
determining a roadway segment of the roadway associated with the first AV lane based on the AV map data;
and
generating a link between the first AV lane and the first coverage lane to be included in the hybrid map.
17. The medium of claim 16 , wherein generating the link comprises:
determining a distance between the end of the first AV lane and an end of the first coverage lane based on the AV map data and the coverage map data; and
generating a hybrid lane between the end of the first AV lane and the end of the first coverage lane to be included in the hybrid map, the hybrid lane comprising:
a first end linking the end of the first AV lane; and
a second end linking the end of the first coverage lane.
18. The medium of claim 15 , the operations further comprising generating a hybrid lane between the first AV lane and the first coverage lane, wherein the route includes the first AV lane linked to the hybrid lane and the hybrid lane linked to the first coverage lane.
19. The medium of claim 15 , wherein the AV map data is associated with an indication of whether the AV can operate under a fully-autonomous mode in the plurality of AV lanes, and wherein generating the hybrid map further comprises:
modifying the AV map to unlink the first AV lane and a second AV lane of the plurality of AV lanes in the AV map based on the indication.
20. The medium of claim 15 , wherein the AV map data is associated with an indication that the AV can operate in the first AV lane under a fully-autonomous mode, and wherein the coverage map data is associated with an indication that the AV can operate in the first coverage lane under a partially-autonomous mode or a manual mode.