公开(公告)号：US11604073B1

公开(公告)日：2023-03-14

申请号：US16535488

申请日：2019-08-08

Applicant: Apple Inc.

Inventor： Srichand Pendyala ,  Marlene Wan ,  Craig M. Hiller ,  Lukas M. Marti ,  Josh Redding

IPC: G01C21/34

Abstract: A method includes determining a routing graph based on a map, wherein the routing graph represents locations from the map; determining a routing horizon based on the routing graph, wherein the routing horizon defines a portion of the routing graph that is usable for routing; determining a cost-action structure that includes, for each location of the routing horizon, a cost-to-go value for travel from a respective location from the routing horizon to a destination, wherein the cost-to-go values implicitly describe an optimal route for travel from each of the respective locations from the routing horizon to the destination; receiving, from an autonomous agent, a request that specifies one of the locations from the routing horizon; and providing, to the autonomous agent, information from the cost-action structure based on the specified location from the routing horizon.