Patent ID: 11946749
Assignee: MOTIONAL AD LLC
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 7:
8. A non-transitory computer-readable storage medium comprising at least one program for execution by at least one processor of a first device, the at least one program including instructions which, when executed by the at least one processor, carry out a method comprising:
obtaining a spatial structure comprising a plurality of nodes connected by edges, wherein at least some of the nodes and edges represent a path to navigate a vehicle from a first point to a second point;
labeling edges of the spatial structure as useful, based on, at least in part, a measure of how closely an edge replicates driving data samples from drive logs, wherein an edge is useful when a number of times the edge is found in the driving data samples satisfies a threshold and a sequence of edges is useful when a distance between the sequence of edges and the driving data samples satisfies a predetermined threshold;
pruning the spatial structure by removing at least one edge from the spatial structure according to respective labels of the edges, wherein an extent of the removal is based on a predetermined graph size, a predetermined performance, or any combinations thereof to obtain a pruned graph;
adjusting the extent of the removal of the at least one edge from the spatial structure according to a measure of a coverage of paths in the drive logs by paths recreated on the pruned graph; and
navigating the vehicle in accordance with a path from a first point to a second point representing a useful sequence of edges on the pruned graph.