US 11,808,600 B2
Semantic map with live updates
Roman Sergeev, San Francisco, CA (US); Andrew Robinson, San Francisco, CA (US); and Lucio Otavio Marchioro Rech, San Mateo, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed on Dec. 14, 2021, as Appl. No. 17/550,471.
Application 17/550,471 is a continuation of application No. 16/718,879, filed on Dec. 18, 2019, granted, now 11,226,207.
Prior Publication US 2022/0107204 A1, Apr. 7, 2022
Int. Cl. G06F 16/29 (2019.01); G01C 21/00 (2006.01); G01C 21/36 (2006.01); G05D 1/02 (2020.01); G01C 21/02 (2006.01); G06V 20/56 (2022.01)
CPC G01C 21/3804 (2020.08) [G01C 21/02 (2013.01); G01C 21/3602 (2013.01); G01C 21/387 (2020.08); G01C 21/3889 (2020.08); G05D 1/0274 (2013.01); G06F 16/29 (2019.01); G06V 20/588 (2022.01)] 20 Claims
OG exemplary drawing
 
15. A system comprising:
one or more processors; and
at least one non-transitory computer-readable medium containing instructions that, when executed by the one or more processors, cause the one or more processors to:
receive, at a managing node of a computing system of an autonomous vehicle, an update to a map used by the autonomous vehicle;
determine a partial map comprising a subset of the map used by the autonomous vehicle, wherein the partial map is defined by a geographical area within a border located at a predetermined distance from a body of the autonomous vehicle navigating a route;
determine that the update to the map includes a modification to a portion of the map defined by the geographical area that creates an inconsistency between the partial map and the portion of the update to the map defined by the geographical area;
based on the determination, delay the update to the map for a predetermined time; and
synchronize the update to the partial map among a set of nodes of the computing system of the autonomous vehicle while the autonomous vehicle is using the partial map to navigate the route, wherein synchronizing the update to the partial map comprises delivering, to one or more downstream nodes of the set of nodes, while the autonomous vehicle is in the geographical area associated with the partial map, the update to the partial map after the delay.