Alignment of standard-definition and high-defintion maps
Aspects of the disclosed invention relate to alignment of standard definition (SD) maps and high definition (HD maps) which may come from different sources. Responsive to input of a destination, a route to that destination may be defined, and SD map waypoints generated from that defined route. A graph may be generated from the HD map. The waypoints may be matched with nodes and edges in the graph. One or more edges may constitute a segment in the HD map. A plurality of segments are identified to match the route.
1. A map alignment method in an autonomous driving system, the method comprising:
responsive to an input of one or more destinations, defining at least one route using waypoints from a standard definition (SD) map containing data for routes;
generating a graph from a high definition (HD) map containing data to enable the autonomous driving system to monitor vehicle orientation and to correct the orientation, the monitoring and the correcting occurring in real time, the graph related to at least part of the at least one route;
identifying, from the graph, graph nodes that follow the at least one route;
converting the waypoints to the graph nodes using the graph;
generating route segments from the defined at least one route, the identified graph nodes, and the converted waypoints.
2. The method of claim 1 , wherein the generating route segments further comprises generating the route segments from the generated graph.
3. The method of claim 1 , further comprising identifying, from the graph, graph edges connecting the graph nodes to define the at least one route.
4. The method of claim 3 , wherein the generating route segments further comprises generating the route segments from the identified graph edges.
5. The method of claim 1 , wherein defining the at least one route comprises defining a plurality of routes, the method further comprising generating the route segments in response to selection of one of the plurality of routes as a selected route.
6. The method of claim 1 , wherein, responsive to one or more changes in conditions, the at least one route changes to a changed route, the method further comprising repeating the generating the graph, identifying the graph nodes, converting the waypoints to the nodes, and generating the route segments in response to the changed route.
7. The method of claim 1 , wherein, responsive to one or more changes in conditions, the defining further comprises defining a plurality of changed routes, the method further comprising performing the generating a graph, identifying the graph nodes, converting the waypoints, and generating the route segments in response to selection of one of the plurality of changed routes or retention of the selected route.
8. A map alignment system in an autonomous driving system, the map alignment system comprising:
a standard definition (SD) map containing data for routes;
a high definition (HD) map containing data to enable the autonomous driving system to monitor vehicle orientation and to correct the orientation, the monitoring and the correcting occurring in real time;
computing equipment configured to:
define at least one route using waypoints from the SD map in response to an input of one or more destinations;
generate a graph from the HD map, the graph related to the at least one route;
identify graph nodes that follow the at least one route;
convert the waypoints to the graph nodes using the graph; and
generate route segments from the defined at least one route, the identified graph nodes, and the converted waypoints.
9. The map alignment system of claim 8 , wherein the computing equipment is configured to generate the route segments from the generated graph.
10. The map alignment system of claim 8 , wherein the computing equipment is configured to identify, from the graph, graph edges connecting the graph nodes to define the at least one route.
11. The map alignment system of claim 10 , wherein the computing equipment is configured to generate the route segments from the graph edges.
12. The map alignment system of claim 8 , wherein the computing equipment is configured to define a plurality of routes, and to generate the route segments in response to selection of one of the plurality of routes as a selected route.
13. The map alignment system of claim 8 , further comprising at least one data source external to the SD map and the HD map, the computing equipment responsive to contents of the at least one data source to change the at least one route to a changed route, the computing equipment further configured to generate the route segments in response to the changed route.
14. The map alignment system of claim 8 , further comprising at least one data source external to the SD map and the HD map, the computing equipment responsive to contents of the at least one data source to define a plurality of changed routes, the computing equipment further configured to generate the route segments in response to one of selection of one of the plurality of changed routes or retention of the selected route.
15. A vehicle navigation system in an autonomous vehicle driving system, the vehicle navigation system comprising a map alignment system, wherein the map alignment system comprises:
a standard definition (SD) map containing data for routes;
a high definition (HD) map containing data to enable the autonomous driving system to monitor vehicle orientation and to correct the orientation, the monitoring and the correcting occurring in real time;
computing equipment configured to:
define at least one route using waypoints from the SD map in response to an input of one or more destinations;
generate a graph from the HD map, the graph related to the at least one route;
identify graph nodes that follow the at least one route;
convert the waypoints to the graph nodes using the graph; and
generate route segments from the defined at least one route, the identified graph nodes, and the converted waypoints.
16. The vehicle navigation system of claim 15 , wherein the computing equipment is configured to identify, from the graph, graph edges connecting the graph nodes to define the at least one route.
17. The vehicle navigation system of claim 16 , wherein the computing equipment is configured to generate the route segments from the generated graph edges.
18. The vehicle navigation system of claim 15 , wherein the computing equipment is configured to define a plurality of routes, and to generate the route segments in response to selection of one of the plurality of routes as a selected route.
19. The vehicle navigation system of claim 15 , further comprising at least one data source external to the SD map and the HD map, the computing equipment responsive to contents of the at least one data source to change the at least one route to a changed route, the computing equipment further configured to generate the route segments in response to the changed route.
20. The vehicle navigation system of claim 15 , further comprising at least one data source external to the SD map and the HD map, the computing equipment responsive to contents of the at least one data source to define a plurality of changed routes, the computing equipment further configured to generate the route segments in response to one of selection of one of the plurality of changed routes or retention of the selected route.