Autonomous navigation system

• US 10,451,425 B2
• Filed: 12/04/2015
• Issued: 10/22/2019
• Est. Priority Date: 12/05/2014
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Apple Inc.
• Inventors: Al-Dahle, Ahmad, Last, Matthew E., Sieh, Philip J., Lyon, Benjamin
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/531,354
• Publication Number:
  US 20170363430A1
• Time in Patent Office: 1,418 Days
• Field of Search: 701 26
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2756/10 Involving external transmission of data to or from the vehicle
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 21/3815 Road data
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

Abstract

Some embodiments provide an autonomous navigation system which enables autonomous navigation of a vehicle along one or more portions of a driving route based on monitoring, at the vehicle, various features of the route as the vehicle is manually navigated along the route to develop a characterization of the route. The characterization is progressively updated with repeated manual navigations along the route, and autonomous navigation of the route is enabled when a confidence indicator of the characterization meets a threshold indication. Characterizations can be updated in response to the vehicle encountering changes in the route and can include a set of driving rules associated with the route, where the driving rules are developed based on monitoring the navigation of one or more vehicles of the route. Characterizations can be uploaded to a remote system which processes data to develop and refine route characterizations and provide characterizations to one or more vehicles.

Claims

1. An apparatus, comprising:

an autonomous navigation system configured to be installed in a vehicle and selectively enable autonomous navigation of the vehicle along a driving route, wherein the autonomous navigation system comprises;

at least one processor; and

a memory, comprising program instructions that when executed by the at least one processor cause the at least one processor to implement a route processing module and a route evaluation module;

the route processing module configured to implement a plurality of updates to a virtual characterization of the driving route, wherein;

each update is based on monitoring a separate one of a plurality of manual navigations of the vehicle along the driving route, wherein each manual navigation comprises the respective vehicle being navigated manually along the same driving route, and

implementation of each update of the plurality of updates includes association of a confidence indicator with the virtual characterization based on a monitored variation of the virtual characterization which is associated with the respective update; and

the route evaluation module configured to enable autonomous navigation of the driving route by the vehicle, based on a determination that a confidence indicator associated with the characterization of the driving route exceeds a threshold confidence indication.

2. The apparatus of claim 1, wherein:

the autonomous navigation system is configured to enable autonomous navigation of the driving route by the vehicle, independently of;

any data received from any devices external to the vehicle, and

any navigation data stored locally to the vehicle prior to any monitoring of navigation, by the vehicle, of any portion of the driving route.

3. The apparatus of claim 1, wherein the program instructions when executed by the at least one processor cause the at least one processor to further implement a curation module, the curation module configured to:

in response to a determination that the confidence indicator associated with the virtual characterization is changing at less than a threshold rate over at least a particular number of a succession of the plurality of updates to the virtual characterization, instruct a navigation monitoring system external to the vehicle to implement additional processing of the virtual characterization, such that the confidence indicator associated with the virtual characterization is improved relative to the threshold confidence indication.

4. The apparatus of claim 1, wherein:

the route processing module is configured to successively update the characterization of the driving route based on monitoring, from one or more sensors of the vehicle and during one or more navigations of the vehicle along the driving route, navigation patterns of one or more mobile entities navigating at least a portion of the driving route within a certain proximity to the vehicle.

5. The apparatus of claim 1, wherein:

the driving route comprises a plurality of roadway portions;

the route processing module is configured to implement a succession of updates to a virtual characterization of each of the roadway portions, wherein;

each update of each virtual characterization is based on monitoring a separate one of a succession of navigations of the vehicle along the respective roadway portion, and

implementing each update of the succession of updates includes associating a confidence indicator with the virtual characterization based on a monitored variation, of the virtual characterization which is associated with the respective update; and

the route evaluation module is configured to enable autonomous navigation of a limited selection of roadway portions of the driving route by the vehicle based on a determination that a confidence indicator associated with the virtual characterization of each of the limited selection of roadway portions exceeds the threshold confidence indication.

6. The apparatus of claim 5, wherein:

the route evaluation module is configured to enable autonomous navigation of a limited selection of roadway portions of the driving route by the vehicle based on a determination that a cumulative route length of the limited selection of roadway portions exceeds a threshold route length.

7. The apparatus of claim 1, wherein:

to implement at least one update, of the plurality of updates, to the virtual characterization of the driving route, the route processing module is configured to process sensor data, generated at the vehicle based on monitoring a separate one of the plurality of navigations of the vehicle along the driving route, in response to a determination that a processing capacity of the autonomous navigation system at least meets a threshold capacity.

8. The apparatus of claim 1, wherein the autonomous navigation system comprises:

an interface module configured to;

present, via a user interface of the vehicle and based at least in part upon autonomous navigation being enabled for one or more portions of the particular driving route, an indication that autonomous navigation is enabled for the driving route;

wherein the autonomous navigation system is configured to engage in autonomous navigation of the vehicle along the driving route, based at least in part upon receiving a command to engage in autonomous navigation of the vehicle along the driving route.

9. The apparatus of claim 8, wherein:

the autonomous navigation system is configured to, based at least in part upon a determination that autonomous navigation of the driving route is disabled;

identify an alternative driving route to a common destination location with the driving route; and

present, via the user interface of the vehicle, a prompt to a vehicle user to engage navigation, by the vehicle, along the alternative driving route to the common destination location.

10. A system, comprising:

one or more computing devices that implement a navigation monitoring system;

a network interface for the navigation monitoring system via which network communications may be transmitted between the navigation monitoring system and a plurality of different autonomous navigation systems installed at respective vehicles;

the navigation monitoring system, configured to;

receive, via the network interface, a plurality of virtual characterizations for one or more driving routes from the plurality of different autonomous navigation systems, wherein the plurality of virtual characterizations are generated at the different autonomous navigation systems according to respective sensor data captured at the vehicles during manual navigations of the vehicles along the one or more driving routes, wherein the manual navigations comprise the vehicles being navigated manually along the one or more driving routes;

generate a composite virtual characterization of at least one of the driving routes based on at least some of the plurality of virtual characterizations; and

send, via the network interface, the composite virtual characterization to one of more of the different autonomous navigation systems.

11. The system of claim 10, wherein the navigation monitoring system is further configured to compare static features or vehicular driving rules included in the plurality of virtual characterizations to identify the at least some virtual characterizations as virtual characterizations of a common roadway portion.

12. The system of claim 10, wherein the navigation monitoring system is further configured to:

store the plurality of virtual characterizations of the plurality of driving routes;

receive a request for a particular driving route from one of the autonomous navigation system;

in response to the request;

retrieve a corresponding one of the plurality of virtual characterizations; and

send the corresponding virtual characterization to the one autonomous navigation system.

13. The system of claim 10, wherein the navigation monitoring system is further configured to:

receive a request for additional processing of one of the virtual characterizations of one of the driving routes from an autonomous navigation system;

modify the one virtual characterization such that a confidence indicator associated with the one virtual characterization is increased; and

send the modified virtual characterization to the autonomous navigation system.

14. The system of claim 13, wherein to modify the one virtual characterization, the navigation monitoring system is configured to provide the one virtual characterization to an operator of the navigation monitoring system for manual modification of one or more portions of the one virtual characterization.

15. The system of claim 14, wherein to modify the one virtual characterization, the navigation monitoring system is further configured to:

determine that the manual modification of the one or more portions of the one virtual characterization does not increase the confidence indicator associated with the one virtual characterization above a threshold level;

in response to the determination that that the manual modification of the one or more portions of the one virtual characterization does not increase the confidence indicator associated with the one virtual characterization above the threshold level;

dispatch a sensor suite to collect additional data associated with one or more roadway portions along the one driving route;

receive, via the network interface, the additional data collected by the sensor suite; and

process the additional data to perform additional modification of the one or more portions of the one virtual characterization.

16. The system of claim 10, wherein the navigation monitoring system is further configured to:

receive a request for additional processing of one of the virtual characterizations of one of the driving routes from an autonomous navigation system;

perform one or more modifications to the one virtual characterization;

determine that a confidence indicator associated with the one virtual characterization does not exceed a threshold level as a result of the modifications; and

send an alternative driving route for the one driving route to the autonomous navigation system.

17. A method, comprising:

performing, by one or more computing devices;

receiving, via a network interface at a navigation monitoring system, a plurality of virtual characterizations for one or more driving routes from a plurality of different autonomous navigation systems installed at respective vehicles, wherein the plurality of virtual characterizations are generated at the different autonomous navigation systems according to respective sensor data captured at the vehicles during manual navigations of the vehicles along the one or more driving routes, wherein each manual navigation comprises the respective vehicle being navigated manually along a respective driving route of the one or more driving routes;

generating, by the navigation monitoring system, a composite virtual characterization of at least one of the driving routes based on at least some of the plurality of virtual characterizations; and

sending, by the navigation monitoring system via the network interface, the composite virtual characterization to one of more of the different autonomous navigation systems.

18. The method of claim 17, further comprising:

storing, by the navigation monitoring system, the plurality of virtual characterizations of the plurality of driving routes;

receiving, at the navigation monitoring system, a request for a particular driving route from one of the autonomous navigation system;

in response to the request;

retrieving, by the navigation monitoring system, a corresponding one of the plurality of virtual characterizations; and

sending, by the navigation monitoring system, the corresponding virtual characterization to the one autonomous navigation system.

19. The method of claim 17, further comprising:

receiving, at the navigation monitoring system, a request for additional processing of one of the virtual characterizations of one of the driving routes from an autonomous navigation system;

modifying, by the navigation monitoring system, the one virtual characterization such that a confidence indicator associated with the one virtual characterization is increased; and

sending, by the navigation monitoring system, the modified virtual characterization to the autonomous navigation system.

20. The method of claim 17, further comprising:

receiving, at the navigation monitoring system, a request for additional processing of one of the virtual characterizations of one of the driving routes from an autonomous navigation system;

performing, by the navigation monitoring system, one or more modifications to the one virtual characterization;

determining, by the navigation monitoring system, that a confidence indicator associated with the one virtual characterization does not exceed a threshold level as a result of the modifications; and

sending, by the navigation monitoring system, an alternative driving route for the one driving route to the autonomous navigation system.