US 11,719,546 B2
Probabilistic navigation system and method
Zafar Takhirov, Mountain View, CA (US)
Assigned to Beijing Voyager Technology Co., Ltd., Beijing (CN)
Filed by Beijing Voyager Technology Co., Ltd., Beijing (CN)
Filed on May 19, 2021, as Appl. No. 17/324,550.
Application 17/324,550 is a continuation of application No. 16/548,779, filed on Aug. 22, 2019, granted, now 11,029,167.
Application 16/548,779 is a continuation of application No. 15/886,196, filed on Feb. 1, 2018, granted, now 10,480,952, issued on Nov. 19, 2019.
Prior Publication US 2021/0278228 A1, Sep. 9, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 21/34 (2006.01); G08G 1/16 (2006.01); G01C 21/36 (2006.01)
CPC G01C 21/3461 (2013.01) [G01C 21/3626 (2013.01); G01C 21/3697 (2013.01); G08G 1/164 (2013.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform operations comprising:
obtaining, using a vehicle, a map of an environment comprising multiple objects, each of the objects associated with a respective probability model describing a probability field of the vehicle colliding with the object;
obtaining, using the vehicle, a global factor from one or more data stores, the global factor applying to all of the multiple objects;
obtaining, from one or more sensors, a local factor applying to a portion of the multiple objects;
updating, using at least the global factor and the local factor, the probability fields of the probability models to obtain updated probability models;
determining, from the updated probability models, a first total probability of collision of the vehicle with at least one of the multiple objects along a first potential navigation path; and
determining, based at least on the first total probability of collision, a navigation for the vehicle through at least a part of the environment.