US 11,953,901 B2
Determining autonomous vehicle routes
Andrew Raymond Sturges, San Francisco, CA (US); Alexander Edward Chao, Oakland, CA (US); Yifang Liu, Burlingame, CA (US); Xiaodong Zhang, Pittsburgh, PA (US); Richard Brian Donnelly, Pittsburgh, PA (US); Bryan John Nagy, Allison Park, PA (US); Jeff Schneider, Pittsburgh, PA (US); and Collin Christopher Otis, Canonsburg, PA (US)
Assigned to UATC, LLC, San Francisco, CA (US)
Filed by UATC, LLC, San Francisco, CA (US)
Filed on May 5, 2020, as Appl. No. 16/866,701.
Application 16/866,701 is a division of application No. 15/793,700, filed on Oct. 25, 2017, granted, now 10,656,645.
Claims priority of provisional application 62/570,262, filed on Oct. 10, 2017.
Prior Publication US 2020/0264613 A1, Aug. 20, 2020
Int. Cl. G05D 1/00 (2006.01); G01C 21/34 (2006.01)
CPC G05D 1/0088 (2013.01) [G01C 21/3446 (2013.01); G05D 1/0217 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An autonomous vehicle comprising:
one or more sensors for detecting an object in an environment surrounding the autonomous vehicle; and
a vehicle computing system comprising one or more processors, wherein the vehicle computing system is programmed or configured to:
receive canonical route data associated with a canonical route, the canonical route comprising a plurality of interconnected roadways in a geographic location, the plurality of interconnected roadways satisfying at least one condition based on trip data associated with a plurality of trips executed by a plurality of autonomous vehicles, a first trip of the plurality of trips describing a traversal of a first portion of the plurality of roadways in a geographic location by a first autonomous vehicle of the plurality of autonomous vehicles, and a second trip of the plurality of trips describing a traversal of a second portion of the plurality of roadways in the geographic location by a second autonomous vehicle of the plurality of autonomous vehicles, the at least one condition being based at least in part on a proportion of trips from the plurality of trips that are covered by the canonical route; and
control travel of the autonomous vehicle based on sensor data from the one or more sensors and the canonical route data associated with the canonical route.