- 专利标题: DYNAMICALLY MODIFIABLE MAP
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申请号: US17752191申请日: 2022-05-24
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公开(公告)号: US20230016335A1公开(公告)日: 2023-01-19
- 发明人: Grady WILLIAMS
- 申请人: EMBARK TRUCKS INC.
- 申请人地址: US CA San Francisco
- 专利权人: EMBARK TRUCKS INC.
- 当前专利权人: EMBARK TRUCKS INC.
- 当前专利权人地址: US CA San Francisco
- 主分类号: B60W30/14
- IPC分类号: B60W30/14 ; B60W30/18 ; B60W10/20 ; G01C21/00
摘要:
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.