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公开(公告)号：US11537134B1
公开(公告)日：2022-12-27
申请号：US15988929
申请日：2018-05-24
Applicant: Apple Inc.
Inventor： Juergen Wiest , Moises Goldszmidt , Tobias Martin Gindele
Abstract: An encoding of an environment for operating vehicles is obtained, comprising a combination of at least a representation of moving entities with a graph representation of static infrastructure elements. Using the encoding and a set of one or more observations of the environment state, a machine learning model is trained to produce a probabilistic representation of a set of predicted states of the environment. A trained version of the machine learning model is stored and deployed at one or more vehicles to help plan and control vehicle movements.
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