US 12,222,210 B1
Route guidance system
Srichand Pendyala, Cupertino, CA (US); Marlene Wan, Cupertino, CA (US); Craig M. Hiller, Santa Clara, CA (US); Lukas M. Marti, San Jose, CA (US); and Josh Redding, San Jose, CA (US)
Assigned to APPLE INC., Cupertino, CA (US)
Filed by Srichand Pendyala, Cupertino, CA (US); Marlene Wan, Cupertino, CA (US); Craig M. Hiller, Santa Clara, CA (US); Lukas M. Marti, San Jose, CA (US); and Josh Redding, San Jose, CA (US)
Filed on Jan. 30, 2023, as Appl. No. 18/161,512.
Application 18/161,512 is a continuation of application No. 16/535,488, filed on Aug. 8, 2019, granted, now 11,604,073.
Claims priority of provisional application 62/735,380, filed on Sep. 24, 2018.
Int. Cl. G01C 21/34 (2006.01)
CPC G01C 21/3453 (2013.01) [G01C 21/3446 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method, comprising:
determining a routing graph based on a 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, and the routing horizon includes locations that are represented by the portion of the routing graph;
determining, for each of the locations, an optimal route from the location to a destination using the routing graph and a graph search algorithm;
determining, for each of the locations, a cost-to-go value for travel from the location to the destination using the optimal route from the location to the destination;
storing the optimal route and the cost-to-go value for each of the locations in a cost-action structure;
receiving, from an autonomous agent, a request for information from the cost-action structure, wherein the request from the autonomous agent is received subsequent to storing the optimal route and the cost-to-go value for each of the locations in the cost-action structure; and
providing, to the autonomous agent, information from the cost-action structure in response to the request, wherein the information from the cost-action structure includes the cost-to-go value for a first one of the locations, the autonomous agent is configured to determine a control decision based on the cost-to-go value for the first one of the locations, and the autonomous agent is configured to move in accordance with the control decision.