Autonomous vehicle navigation using with coalescing constraints for static map data
US11619497B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 30, 2020 |
| Grant date | Apr 4, 2023 |
| Priority date | — |
| Expiry date | Apr 9, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0248
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Systems, methods, and non-transitory computer readable media are provided for obtaining a slice of static map data comprising a plurality of blocks, each block comprising a plurality of cells, each, each cell having a cell value indicating a probability that an object is present in the cell; loading the slice into a cache memory of a parallel processor; arranging the static map data in the cache memory in contiguous memory spaces assigned to a group of workers of the parallel processor that have coalescing constraints; loading a frame of dynamic map data into the cache memory; obtaining a plurality of scan match candidates each representing a possible position and attitude of the vehicle; processing, in the parallel processor, the static and dynamic map data and the candidates to generate results each representing a candidate and score; and selecting the candidate having the highest score as a vehicle position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.