Service area maps for autonomous vehicles
Aspects of the disclosure provide for the generation of a service area map for autonomous vehicles. For instance, graph nodes of a road network may be iterated through in order to identify a set of reachable graph nodes based on a set of routing parameters that define driving limits for the autonomous vehicles. The road network may include the graph nodes as well as edges connecting ones of the graph nodes. A set of S2 cells may be identified based on the set of reachable graph nodes. Vertices of each S2 cell of the set of S2 cells may be determined based on whether each S2 cell of the set of S2 cells is occupied by any of the graph nodes of the set of reachable graph nodes. Contours through cells may be drawn based on the scores. The service area map may be generated using the contours.
1. A method for generating a service area map for autonomous vehicles, the method comprising:
iterating, by one or more processors, through graph nodes of a road network in order to identify a set of reachable graph nodes based on a set of routing parameters that define driving limits for the autonomous vehicles, wherein the road network includes the graph nodes as well as edges connecting ones of the graph nodes;
identifying, by the one or more processors, a set of S2 cells based on the set of reachable graph nodes, wherein each S2 cell has an area with a curved surface defined at one or more levels of granularity associated with an average cell size;
scoring, by the one or more processors, vertices of each S2 cell of the set of S2 cells based on whether each S2 cell of the set of S2 cells is occupied by any of the graph nodes of the set of reachable graph nodes;
drawing, by the one or more processors, contours through cells based on the scoring of the vertices; and
generating, by the one or more processors, the service area map using the contours, wherein the service area map provides information on how the routing parameters affect an ability of the autonomous vehicles to operate in an existing or prior service area.
2. The method of claim 1 , wherein the set of routing parameters include an ability to reach one graph node of the set of reachable graph nodes from all other graph nodes of the set of reachable graph nodes.
3. The method of claim 1 , wherein the set of routing parameters includes avoiding certain driving maneuvers.
4. The method of claim 1 , wherein the set of routing parameters includes avoiding certain areas of the graph nodes.
5. The method of claim 1 , wherein identifying the set of S2 cells includes identifying a subset of the set of the reachable graph nodes having extreme latitude and longitude values.
6. The method of claim 1 , wherein scoring vertices includes:
initially setting all vertices of each S2 cell of the set of S2 cells to a first value; and
adjusting values of any vertices of S2 cells of the set of S2 cells that are occupied by any graph nodes of the set of reachable graph nodes.
7. The method of claim 6 , wherein drawing the contours includes dividing a cell of the set of S2 cells by dividing vertices with the first value from vertices of adjusted values.
8. The method of claim 7 , wherein drawing the contours includes drawing a contour with a particular direction to indicate which portion of the divided cell includes vertices of the first value and which portion of the divided cell includes vertices of adjusted values.
9. The method of claim 1 , wherein the service area map includes a plurality of polygons.
10. The method of claim 9 , wherein a first one of the plurality of polygons includes an excluded area within a second one of the plurality of polygons, such that an area between the first one and the second one is a drivable area.
11. A system for generating a service area map for autonomous vehicles, the system comprising one or more processors configured to:
iterate through graph nodes of a road network in order to identify a set of reachable graph nodes based on a set of routing parameters that define driving limits for the autonomous vehicles, wherein the road network includes the graph nodes as well as edges connecting ones of the graph nodes;
identify a set of S2 cells based on the set of reachable graph nodes, wherein each S2 cell has an area with a curved surface at one or more levels of granularity associated with an average cell size;
score vertices of each S2 cell of the set of S2 cells based on whether each S2 cell of the set of S2 cells is occupied by any of the graph nodes of the set of reachable graph nodes;
draw contours through cells based on the scores of the vertices; and
generate the service area map using the contours, wherein the service area map provides information on how the routing parameters affect an ability of the autonomous vehicles to operate in an existing or prior service area.
12. The system of claim 11 , wherein the set of routing parameters include an ability to reach one graph node of the set of reachable graph nodes from all other graph nodes of the set of reachable graph nodes.
13. The system of claim 11 , wherein the set of routing parameters includes avoiding certain driving maneuvers.
14. The system of claim 11 , wherein the set of routing parameters includes avoiding certain areas of the graph nodes.
15. The system of claim 11 , wherein identifying the set of S2 cells includes identifying a subset of the set of the reachable graph nodes having extreme latitude and longitude values.
16. The system of claim 11 , wherein the one or more processors are further configured to score vertices by:
initially setting all vertices of each S2 cell of the set of S2 cells to a first value; and
adjusting values of any vertices of S2 cells of the set of S2 cells that are occupied by any graph nodes of the set of reachable graph nodes.
17. The system of claim 16 , wherein the one or more processors are further configured to draw the contours by dividing a cell of the set of S2 cells by dividing vertices with the first value from vertices of adjusted values.
18. The system of claim 17 , wherein the one or more processors are further configured to draw the contours by drawing a contour with a particular direction to indicate which portion of the divided cell includes vertices of the first value and which portion of the divided cell includes vertices of adjusted values.
19. The system of claim 11 , wherein the service area map includes a plurality of polygons.
20. The system of claim 19 , wherein a first one of the plurality of polygons includes an excluded area within a second one of the plurality of polygons, such that an area between the first one and the second one is a drivable area.
21. The method of claim 1 , further comprising updating, by the one or more processors, the graph nodes in order to provide an updated service area map, wherein the updated service area map indicates how changes to the graph nodes affects the ability of the autonomous vehicles to operate in the existing or prior service area.
22. The system of claim 11 , wherein the one or more processors are further configured to update the graph nodes in order to provide an updated service area map, wherein the updated service area map indicates how changes to the graph nodes affects the ability of the autonomous vehicles to operate in the existing or prior service area.