Automatic annotation of environmental features in a map during navigation of a vehicle

1. A method comprising:

generating, using one or more processors, a geometric model of a feature in an environment of a vehicle based on sensor data obtained by one or more sensors, the generating comprising:

associating, using the one or more processors, the feature with an area within the environment;

determining, using the one or more processors, at least one drivable segment from the area;

determining, using the one or more processors, based on intensity values or a color model of the sensor data, a plurality of geometric blocks corresponding to the at least one drivable segment; and

generating, using the one or more processors, a polygon comprising the plurality of geometric blocks; and

annotating, using the one or more processors, the geometric model based on the polygon.

2. The method of claim 1 , wherein the polygon represents a splitting of a lane of the area into a plurality of lanes.

3. The method of claim 1 , wherein the polygon represents a merging of a plurality of lanes of the area into a single lane.

4. The method of claim 1 , wherein the polygon represents an intersection of a plurality of lanes of the area.

5. The method of claim 1 , wherein the polygon represents a roundabout comprising a spatial location in the area for the vehicle to enter or exit the roundabout.

6. The method of claim 1 , wherein the polygon represents a curving of a lane of the area.

7. The method of claim 1 , wherein the vehicle is located at a spatiotemporal location within the environment, and wherein the feature is associated with the spatiotemporal location.

8. The method of claim 1 , wherein the feature represents a plurality of lanes of the area, wherein each lane of the plurality of lanes is orientated in a same direction, and wherein each geometric block of the plurality of geometric blocks represents a single lane of the plurality of lanes.

9. The method of claim 1 , wherein the feature represents at least one of an elevation of the area, a curb located adjacent to the area, or a median separating two lanes of the area.

10. The method of claim 1 , wherein the area comprises at least one of a road segment, a parking space located on the road segment, a parking lot connected to the road segment, or a vacant lot located within the environment.

11. The method of claim 1 , further comprising determining, using the sensor data, a spatial location of the vehicle relative to a boundary of the area, the one or more sensors comprising a global navigation satellite system (GNSS) sensor or an inertial measurement unit (IMU).

12. The method of claim 1 , wherein the annotating of the geometric model comprises generating a computer-readable semantic annotation that combines the geometric model and semantic data, and

wherein the method further comprises transmitting, to a remote server or another vehicle, a map of the environment having the computer-readable semantic annotation.

13. The method of claim 12 , wherein the annotating of the geometric model is performed in a first mode of operation, and

wherein the method further comprises navigating, using a control module of the vehicle, the vehicle in the area in a second mode of operation using the map.

14. The method of claim 12 , wherein the semantic data represents at least one of a marking located within the environment, a road sign located within the environment, or a traffic signal located within the environment.

15. The method of claim 12 , wherein the annotating of the geometric model comprises extracting, from the semantic data, a logical driving constraint associated with navigating the vehicle in the area.

16. The method of claim 1 , wherein the sensor data comprises Light Detection and Ranging (LiDAR) point cloud data.

17. The method of claim 1 , wherein the color model comprises red, green, and blue (RGB) values.

18. The method of claim 1 , wherein determining the plurality of geometric blocks comprises dividing the at least one drivable segment into the plurality of geometric blocks.

19. A vehicle comprising:

one or more computer processors; and

one or more non-transitory storage media storing instructions which, when executed by the one or more computer processors, cause the one or more computer processors to:

generate a geometric model of a feature in an environment of a vehicle based on sensor data obtained by one or more sensors, the generating comprising:

associating the feature with an area within the environment;

determining at least one drivable segment from the area;

determining, based on intensity values or a color model of the sensor data, a plurality of geometric blocks corresponding to the at least one drivable segment; and

generating a polygon comprising the plurality of geometric blocks; and

annotate the geometric model based on the polygon.

20. One or more non-transitory storage media storing instructions which, when executed by one or more computing devices, cause one or more computing devices to:

generate a geometric model of a feature in an environment of a vehicle based on sensor data obtained by one or more sensors, the generating comprising:

associating the feature with an area within the environment;

determining at least one drivable segment from the area;

determining, based on intensity values or a color model of the sensor data, a plurality of geometric blocks corresponding to the at least one drivable segment; and

generating a polygon comprising the plurality of geometric blocks; and

annotate the geometric model based on the polygon.