Granted Patent B2

US 12,597,357 · App. 17/900,963 · Granted Apr 7, 2026

Inventors: Oleksii Shyman (Martinez, CA); Edward Lim (Pacifica, CA); Maxime Gariel (San Francisco, CA); Joshua Rosenkranz (San Francisco, CA); Craig Milliard (Vallejo, CA); Ryan Olson (San Francisco, CA); Sui Nam Chan (Sacramento, CA)

Assignee: JOBY AERO, INC.

G08G5/51

Abstract

Claims (44)

1 . A non-transitory computer-readable medium comprising computer-executable instructions, the computer-executable instructions causing one or more processing units of a computing device to:

acquire an airport map that includes a plurality of edge data structures, each of the edge data structures including a plurality of waypoints and membership data that indicates a location at an airport;

access a sequence of membership transitions associated with the membership data, the membership transitions configured to indicate a sequence of edges satisfying a membership rule for the plurality of edge data structures;

access geometry information of at least one edge transition between edge data structures;

receive a starting location and a starting heading of an aircraft at the airport;

determine a destination location and a destination heading for the aircraft at the airport;

generate a taxiing path plan for the aircraft based on the airport map, the starting location, the starting heading, the sequence of membership transitions, the geometry information associated with the at least one edge transition, the destination location, and the destination heading, wherein the taxiing path plan includes a sequence of waypoints from the edge data structures; and

send the taxiing path plan to the aircraft.

2 . The computer-readable medium of claim 1 , wherein the membership data for an edge data structure specifies a runway name, a taxiway name, or a non-movement area.

3 . The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to determine the starting location and the starting heading based on sensor data from sensors on the aircraft.

4 . The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to generate the taxiing path plan using a shortest path algorithm.

5 . The computer-readable medium of claim 1 , wherein the taxiing path plan includes one or more stop points that each indicate a required location for the aircraft to stop during taxiing.

6 . The computer-readable medium of claim 1 , wherein the taxiing path plan includes one or more optional stop points that each indicate a preset location at which the aircraft can be optionally stopped by a human operator.

7 . The computer-readable medium of claim 1 , wherein a plurality of the edge data structures include Boolean values that indicate whether the edge can be used for the taxiing path plan.

8 . The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to:

receive air traffic control instructions; and

generate the taxiing path plan based on the received air traffic control instructions.

9 . The computer-readable medium of claim 8 , wherein the air traffic control instructions are received via a communication relay from the aircraft.

10 . The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to generate an updated taxiing path plan while the aircraft is taxiing according to the taxiing path plan, and wherein the updated taxiing path plan includes an updated sequence of waypoints.

11 . The computer-readable medium of claim 10 , further comprising instructions that cause the one or more processing units to generate the updated taxiing path plan based on instructions from air traffic control.

12 . The computer-readable medium of claim 10 , further comprising instructions that cause the one or more processing units to generate the updated taxiing path plan based on detection of objects in the path of the aircraft while the aircraft is taxiing according to the taxiing path plan.

13 . A non-transitory computer-readable medium comprising computer-executable instructions, the computer-executable instructions causing one or more processing units of an aircraft to:

acquire an airport map that includes a plurality of edge data structures, each of the edge data structures including a plurality of waypoints and membership data that indicates a location at an airport;

access a sequence of membership transitions associated with the membership data, the membership transitions configured to indicate a sequence of edges satisfying a membership rule for the plurality of edge data structures;

access geometry information of at least one edge transition between edge data structures;

receive a starting location and a starting heading of the aircraft at the airport;

determine a destination location and a destination heading for the aircraft at the airport;

generate a taxiing path plan for the aircraft based on the airport map, the starting location, the starting heading, the destination location, the sequence of membership transitions, the geometry information associated with the at least one edge transition, and the destination heading, wherein the taxiing path plan includes a sequence of waypoints from the edge data structures; and

execute the taxiing path plan by following the sequence of waypoints in the taxiing path plan.

14 . The computer-readable medium of claim 13 , wherein the membership data for an edge data structure specifies a runway name, a taxiway name, or a non-movement area.

15 . The computer-readable medium of claim 13 , further comprising instructions that cause the one or more processing units to determine the starting location and the starting heading based on sensor data from sensors on the aircraft.

16 . The computer-readable medium of claim 13 , further comprising instructions that cause the one or more processing units to generate the taxiing path plan using a shortest path algorithm.

17 . The computer-readable medium of claim 13 , wherein the taxiing path plan includes one or more stop points that each indicate a required location for the aircraft to stop during taxiing.

18 . The computer-readable medium of claim 13 , wherein the taxiing path plan includes one or more optional stop points that each indicate a preset location at which the aircraft can be optionally stopped by a human operator.

19 . The computer-readable medium of claim 13 , wherein a plurality of the edge data structures include Boolean values that indicate whether the edge can be used for the taxiing path plan.

20 . The computer-readable medium of claim 13 , further comprising instructions that cause the one or more processing units to:

receive air traffic control instructions; and

generate the taxiing path plan based on the received air traffic control instructions.

21 . The computer-readable medium of claim 20 , wherein the air traffic control instructions are received as voice instructions from an air traffic control tower, and wherein the computer-executable instructions cause the one or more processing units to:

generate text from the voice instructions; and

generate the taxiing path plan based on the generated text.

22 . The computer-readable medium of claim 13 , further comprising instructions that cause the one or more processing units to generate an updated taxiing path plan while the aircraft is taxiing according to the taxiing path plan, and wherein the updated taxiing path plan includes an updated sequence of waypoints.

23 . The computer-readable medium of claim 22 , further comprising instructions that cause the one or more processing units to generate the updated taxiing path plan based on instructions from air traffic control.

24 . The computer-readable medium of claim 22 , further comprising instructions that cause the one or more processing units to generate the updated taxiing path plan based on detection of objects in the path of the aircraft while the aircraft is taxiing according to the taxiing path plan.

Assignments (2)

Continuity (3)

References Cited (82)