US 12,623,693 B2Granted

Determining dynamic route data

AssigneeZoox, Inc.

InventorsYan Chang, Philip Charles Dasler, Aaron Huang, Sutej Pramod Kulgod, Swapnil Vikas Mankar, Mark Jonathon McClelland, Arjun Sharma

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Abstract

Techniques for enabling dynamic routing are described herein. A vehicle may receive a destination and generate a path to the destination. Further, the vehicle may generate a local graph that includes one or more driving lanes. The vehicle may use the path and the local graph to determine overlap data indicative of a distance that the path overlaps with the driving lane(s). The vehicle may utilize the overlap data to determine a color value(s) to associate with the driving lane(s) in a top-down image. Accordingly, based on determining the color value(s), the vehicle may generate colored top-down image(s) of the driving lane(s) and use such data to control the vehicle.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
receiving a destination associated with an environment;
determining a path for an autonomous vehicle to follow to the destination;
determining a plurality of road segments associated with a region of the environment within a threshold distance of the autonomous vehicle, wherein a road segment of the plurality of road segments includes a first driving lane;
determining an amount of overlap between the path and the first driving lane;
determining, based at least in part on data associated with the first driving lane, a cost associated with navigating the first driving lane to the destination;
determining, based at least in part on the amount of overlap and the cost, a value to associate with a first top-down representation of the first driving lane;
generating the first top-down representation of the first driving lane comprising the value along the first driving lane;
determining a second top-down representation of a second driving lane, wherein the second top-down representation is independent from the first top-down representation;
and
controlling a steering system of the autonomous vehicle based at least in part on the first top-down representation of the first driving lane and the second top-down representation of the second driving lane.

10 more elements

One or more non transitory computer readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause a system to perform operations comprising:

determining a path for an autonomous vehicle to follow to a destination;
determining a graph comprising a road segment that includes a first driving lane;
determining a degree of overlap between the path and the first driving lane;
determining, based at least in part on the degree of overlap, a value to associate with a first representation of the first driving lane;
determining, based at least in part on the value, the first representation of the first driving lane;
determining a second representation of a second driving lane, wherein the second representation is independent form the first representation;
and
controlling a steering system of the autonomous vehicle based at least in part on the first representation and the second representation.

5 more elements

A method comprising:

determining a path for an autonomous vehicle to follow to a destination;
determining a graph comprising a road segment that includes a first driving lane;
determining a degree of overlap between the path and the first driving lane;
determining, based at least in part on the degree of overlap, a value to associate with a first representation of the first driving lane;
determining, based at least in part on the value, the first representation of the first driving lane;
determining a second representation of a second driving lane, wherein the second representation is independent form the first representation;
and
controlling a steering system of the autonomous vehicle based at least in part on the first representation and the second representation.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/622,094Filed 29 Mar 2024
Published: US 2025/0304115 A12 Oct 2025
Granted: 12 May 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification8 codes

B60W 60/0021
Planning or execution of driving tasks: specially adapted for travel time
G01C 21/3658
Details of the output of route guidance instructions: lane guidance
B60W 30/10
Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of…:…
B60W 30/18159
Related to particular drive situations: traversing an intersection