Apple Inc.

Samsung Electronics Co., Ltd.

Imran A Pirwani

Curtis Galloway

David Hodge

Ian Leighton

Alexander Tesov

Cameron Sabol

Stanley E Roberts

Kaspar Fischer

Usama Mikael Hajj

Usama M Hajj

Paul S McCarthy

Brian A Paden

Pinaki Sinha

Allen Xiao

A motion planning system includes: a processor; and memory to store instructions that when executed by the processor, cause the processor to: identify a reference path between a departure point and a destination point in an environment including one or more obstacles; generate decomposition segments of a space surrounding the reference path, the decomposition segments including a first free-space segment and a second free-space segment that are devoid of the obstacles; generating a first path segment relative to the reference path for traversing the first free-space segment, and a second path segment relative to the reference path for traversing the second free-space segment; and connecting the first and second path segments to each other to generate a navigational path to traverse the environment.

System and method for autonomous motion planning

Some embodiments provide a map application that identifies a transit route between a starting location and a destination. The transit route, in some embodiments, includes a set of transit legs that each is serviced by transit vehicles of a transit line. The map application of some embodiments, after identifying the transit route, categorizes each transit line of the transit route as one of a high frequency transit line and a low frequency transit line. The map application displays the departure schedules of high frequency transit lines in a first manner, while the map application displays the departure schedules of low frequency transit lines in a second different manner.

Frequency based transit trip characterizations

Some embodiments provide a map application that identifies a transit route between a starting location and a destination location. The transit route, in some embodiments, comprises a set of transit legs that each is serviced by transit vehicles of a transit line and a set of walking distances. The map application of some embodiments generates a frequency of departures for transit vehicles of each transit line in the set of transit lines from a first transit station of the transit leg that is serviced by the transit line. The map application of some such embodiments further generates a frequency of departures for the entire transit route.

Road network data can include two dimensional (2D) coordinates corresponding to junctions and non-junctions in the road network. Height values for roads at junctions can be obtained from optimizing a cost function or as input. Height values for roads at non-junction locations can be obtained from a height function defined using the height values for the junctions. Pitch, yaw, and roll vectors can be obtained for non-junction locations using the height function, the 2D coordinates, and one or more road parameters, respectively. These vectors can define a coordinate frame for the road, along with which a width can provide points for defining polygons for the road. Road surface data can be constructed from the polygons. The polygons can be provided to a device display for rendering of a three dimensional image of navigation data.

Computing plausible road surfaces in 3D from 2D geometry

Road height values for a road network area are generated based on locations of junctions and stacking orders of roads in junctions in which at least one road passes over another road. A cost function can be optimized to obtain height values for each road of each junction. The cost function can be constrained such that roads of the grade separated crossings satisfy the stacking order designated for the roads and to have a minimum distance between roads having consecutive stacking order values. The obtained height values can be used for rendering a three-dimensional map of a part of the road network area.

Road height generation for a road network

Road information is compressed for map tiles of a map containing a network of roads. The map can have different sets of tiles for each zoom level. For a given zoom level, road segments can be grouped based on the class of the roads (e.g., interstate highway, state highway, divided highway, side street, etc.). The road segments of a particular class can be combined into paths, and a representative segment can be chosen for each path. The features of the representative segment can be used in displaying the corresponding path, thereby reducing the size used to store the path in a map tile. This reduce-size map tile can be transmitted more efficiently due to the smaller size.

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Campbell, CA, United States of America

Imran A Pirwani