公开(公告)号：US20230016578A1

公开(公告)日：2023-01-19

申请号：US17379126

申请日：2021-07-19

Applicant: EMBARK TRUCKS, INC.

Inventor： Grady WILLIAMS

IPC: B60W30/14 ,  B60W10/20 ,  G01C21/00 ,  B60W30/18

Abstract: Provided are systems and methods for controlling a vehicle based on a map that designed using a factor graph. Because the map is designed using a factor graph, positions of the road can be modified in real-time while operating the vehicle. In one example, the method may include storing a map which is associated with a factor graph of variable nodes representing a plurality of constraints that define positions of lane lines in a road and factor nodes between the variable nodes on the factor graph which define positioning constraints amongst the variable nodes, receiving an indication from the road using a sensor of a vehicle, updating positions of the variable nodes based on the indication and an estimated location of the vehicle within the map, and issue commands capable of controlling a steering operation of the vehicle based on the updated positions of the factor nodes.

公开(公告)号：US20230016335A1

公开(公告)日：2023-01-19

申请号：US17752191

申请日：2022-05-24

Applicant: EMBARK TRUCKS INC.

Inventor： Grady WILLIAMS

IPC: B60W30/14 ,  B60W30/18 ,  B60W10/20 ,  G01C21/00

Abstract: Provided are systems and methods for controlling a vehicle based on a map that designed using a factor graph. Because the map is designed using a factor graph, positions of the road can be modified in real-time while operating the vehicle. In one example, the method may include storing a map which is associated with a factor graph of variable nodes representing a plurality of constraints that define positions of lane lines in a road and factor nodes between the variable nodes on the factor graph which define positioning constraints amongst the variable nodes, receiving an indication from the road using a sensor of a vehicle, updating positions of the variable nodes based on the indication and an estimated location of the vehicle within the map, and issue commands capable of controlling a steering operation of the vehicle based on the updated positions of the factor nodes.