公开(公告)号：US11436504B1

公开(公告)日：2022-09-06

申请号：US16432796

申请日：2019-06-05

Applicant: Apple Inc.

Inventor： Dimitar Hristov Lukarski ,  Luke Burke Johnson ,  Arun Rao ,  Siddharth Swaminathan

IPC: G06N5/04 ,  G05D1/00 ,  G05D1/02

Abstract: Indications of static objects (e.g., lane segments, signs etc.) and dynamic objects (e.g., moving vehicles, pedestrians and the like) in the operation environment of a vehicle are obtained. A graph comprising a plurality of nodes and edges is generated. Individual ones of the nodes represent respective static and dynamic objects, and an edge between a first pair of nodes represents a relationship between the objects represented by the pair. The graph includes an indication of an uncertainty metric associated with the relationship. To generate the graph, a geometric analysis is performed, as a result of which an edge between a different pair of nodes is excluded from the graph. Using the graph, one or more operations of a task pertaining to vehicle movements is performed.

公开(公告)号：US11465620B1

公开(公告)日：2022-10-11

申请号：US16902816

申请日：2020-06-16

Applicant: Apple Inc.

Inventor： Dimitar H. Lukarski ,  Siddharth Swaminathan ,  Miroslav Baric

IPC: B60W30/12 ,  B60W60/00

Abstract: A vehicle includes a lane generator that is configured to receive information that describes a first lane portion and a second lane portion and determine that a discontinuity is present. The lane generator obtains a sensor output and detects presence of a nearby vehicle in the first lane portion. A classification for the nearby vehicle is identified by analyzing the sensor output, and is used to select a vehicle kinematics model. The lane generator determines paths for a simulated vehicle from the first lane portion to the second lane portion using the vehicle kinematics model. A third lane portion is determined based on the paths such that the third lane portion defines a traversable route from the first lane portion to the second lane portion in accordance with the vehicle kinematics model. An automated vehicle control system generates control outputs based in part on the third lane portion.