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    TRAINING MULTIPLE NEURAL NETWORKS OF A VEHICLE PERCEPTION COMPONENT BASED ON SENSOR SETTINGS
    2.
    发明申请
    TRAINING MULTIPLE NEURAL NETWORKS OF A VEHICLE PERCEPTION COMPONENT BASED ON SENSOR SETTINGS 审中-公开

    公开(公告)号：US20190176841A1

    公开(公告)日：2019-06-13

    申请号：US16176549

    申请日：2018-10-31

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Benjamin Englard ,  Eric C. Danziger

    IPC: B60W50/06 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  G06N3/08

    Abstract: A method for controlling a vehicle based on sensor data having variable sensor parameter settings includes receiving sensor data generated by a vehicle sensor while the sensor is configured with a first sensor parameter setting. The method also includes receiving an indicator specifying the first sensor parameter setting, and selecting, based on the received indicator, one of a plurality of neural networks of a perception component, each neural network having been trained using training data corresponding to a different sensor parameter setting. The method also includes generating signals descriptive of a current state of the environment using the selected neural network and based on the received sensor data. The method further includes generating driving decisions based on the signals descriptive of the current state of the environment, and causing one or more operational subsystems of the vehicle to maneuver the vehicle in accordance with the generated driving decisions.

    Determining distortion by tracking objects across successive frames
    3.
    发明授权
    Determining distortion by tracking objects across successive frames 有权

    公开(公告)号：US10495739B1

    公开(公告)日：2019-12-03

    申请号：US16196618

    申请日：2018-11-20

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Eric C. Danziger ,  Austin K. Russell

    IPC: G01S17/00 ,  G01S7/497 ,  G01S17/42 ,  G01S17/93 ,  G05D1/02 ,  G01S17/89 ,  G01S17/02 ,  G01S17/87 ,  G01S7/481 ,  G06N20/00 ,  G01S17/06 ,  G01S17/58

    Abstract: A computer-implemented method of determining relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle. The one or more sensors are configured to sense an environment through which the vehicle is moving by following a scan pattern comprising component scan lines. The method also includes obtaining, based on the sensor data and by one or more processors, two or more point cloud frames representative of the environment and tracking, by the one or more processors, a point cloud object across the two or more point cloud frames. Additionally, the method includes determining, based on the tracking and by the one or more processors, a relative velocity of the point cloud object and correcting, by the one or more processors, the point cloud object based on the relative velocity of the point cloud object.

    Processing point clouds of vehicle sensors having variable scan line distributions using two-dimensional interpolation and distance thresholding
    4.
    发明授权
    Processing point clouds of vehicle sensors having variable scan line distributions using two-dimensional interpolation and distance thresholding 有权

    公开(公告)号：US10338223B1

    公开(公告)日：2019-07-02

    申请号：US16176649

    申请日：2018-10-31

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Benjamin Englard ,  Eric C. Danziger

    IPC: G01S17/89 ,  G05D1/02 ,  B60W30/18 ,  G06T7/50 ,  G06K9/42 ,  G06N3/08 ,  G05D1/00 ,  G06K9/62 ,  G06K9/00 ,  G06T7/20

    Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense a vehicle environment. Each of the points in the frame has associated two-dimensional coordinates and an associated parameter value. The method also includes generating a normalized point cloud frame by adding interpolated points not present in the received frame, at least by, for each interpolated point, identifying one or more neighboring points having associated two-dimensional coordinates that are within a threshold distance of two-dimensional coordinates for the interpolated point, and calculating an estimated parameter value of the interpolated point using, for each of the identified neighboring points, a distance between the two-dimensional coordinates and the parameter value associated with the identified neighboring point. The method also includes generating, using the normalized point cloud frame, signals descriptive of a current state of the vehicle environment.

    ADJUSTING AREA OF FOCUS OF VEHICLE SENSORS BY CONTROLLING SPATIAL DISTRIBUTIONS OF SCAN LINES
    5.
    发明申请
    ADJUSTING AREA OF FOCUS OF VEHICLE SENSORS BY CONTROLLING SPATIAL DISTRIBUTIONS OF SCAN LINES 审中-公开

    公开(公告)号：US20190179026A1

    公开(公告)日：2019-06-13

    申请号：US16176624

    申请日：2018-10-31

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Benjamin Englard ,  Eric C. Danziger ,  Austin K. Russell

    IPC: G01S17/89 ,  G01S17/02 ,  G01S17/66 ,  G01S7/48

    Abstract: A method for controlling at least a first sensor of a vehicle, which senses an environment through which the vehicle is moving by producing a plurality of scan lines arranged according to a spatial distribution, includes receiving sensor data generated by one or more sensors. The one or more sensors are configured to sense the environment through which the vehicle is moving. The method also includes identifying, by one or more processors and based on the received sensor data, one or more areas of interest in the environment, and causing, by one or more processors and based on the areas of interest, the spatial distribution of the plurality of scan lines produced by the first sensor to be adjusted.

    TRAINING A MACHINE LEARNING BASED MODEL OF A VEHICLE PERCEPTION COMPONENT BASED ON SENSOR SETTINGS
    6.
    发明申请
    TRAINING A MACHINE LEARNING BASED MODEL OF A VEHICLE PERCEPTION COMPONENT BASED ON SENSOR SETTINGS 审中-公开

    公开(公告)号：US20190178988A1

    公开(公告)日：2019-06-13

    申请号：US16176529

    申请日：2018-10-31

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Benjamin Englard ,  Eric C. Danziger

    IPC: G01S7/40 ,  G01S13/93 ,  G01S7/41 ,  G01S13/42 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W10/04 ,  G06N3/08

    Abstract: A method for configuring a perception component of a vehicle having one or more sensors includes generating a first set of training data that includes first sensor data corresponding to a first setting of one or more sensor parameters, and an indicator of the first setting. The method also includes generating a second set of training data that includes second sensor data corresponding to a second setting of the sensor parameter(s), and an indicator of the second setting. The method further includes training the perception component, at least by training a machine learning based model using the first and second training data sets. The trained perception component is configured to generate signals descriptive of a current state of the vehicle environment by processing sensor data generated by the sensor(s), and one or more indicators indicating which setting of the sensor parameter(s) corresponds to which portions of the generated sensor data.

    DETERMINING DISTORTION BY TRACKING OBJECTS ACROSS SUCCESSIVE FRAMES
    8.
    发明申请
    DETERMINING DISTORTION BY TRACKING OBJECTS ACROSS SUCCESSIVE FRAMES 审中-公开

    公开(公告)号：US20200041647A1

    公开(公告)日：2020-02-06

    申请号：US16196618

    申请日：2018-11-20

    Applicant: Luminar Technologies, Inc.

    Inventor： Eric C. Danziger ,  Austin K. Russell

    IPC: G01S17/58 ,  G01S17/06 ,  G06N20/00 ,  G01S17/93

    Abstract: A computer-implemented method of determining relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle. The one or more sensors are configured to sense an environment through which the vehicle is moving by following a scan pattern comprising component scan lines. The method also includes obtaining, based on the sensor data and by one or more processors, two or more point cloud frames representative of the environment and tracking, by the one or more processors, a point cloud object across the two or more point cloud frames. Additionally, the method includes determining, based on the tracking and by the one or more processors, a relative velocity of the point cloud object and correcting, by the one or more processors, the point cloud object based on the relative velocity of the point cloud object.

    CONTROLLING VEHICLE SENSORS BASED ON ROAD CONFIGURATION
    9.
    发明申请
    CONTROLLING VEHICLE SENSORS BASED ON ROAD CONFIGURATION 审中-公开

    公开(公告)号：US20190179025A1

    公开(公告)日：2019-06-13

    申请号：US16176607

    申请日：2018-10-31

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Benjamin Englard ,  Eric C. Danziger ,  Joseph Augenbraun ,  Austin K. Russell

    IPC: G01S17/89 ,  G01S17/02 ,  G01S7/481 ,  G01S7/48 ,  B60W10/04 ,  G06N3/08

    Abstract: A method for controlling a first sensor configured to sense an environment through which a vehicle is moving includes receiving sensor data generated by one or more sensors of the vehicle as the vehicle moves through the environment, identifying, by one or more processors and based on at least a portion of the received sensor data, one or more road portions along which the vehicle is expected to travel, and determining, by one or more processors, a configuration of the identified road portions, at least in part by determining a slope of at least one of the identified road portions. The method also includes determining, by one or more processors analyzing at least the determined configuration, an elevation of a field of regard of the first sensor that satisfies one or more visibility criteria, and causing the first sensor to be adjusted in accordance with the determined elevation.

    CONTROLLING VEHICLE SENSORS BASED ON DYNAMIC OBJECTS
    10.
    发明申请
    CONTROLLING VEHICLE SENSORS BASED ON DYNAMIC OBJECTS 审中-公开

    公开(公告)号：US20190179023A1

    公开(公告)日：2019-06-13

    申请号：US16176473

    申请日：2018-10-31

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Benjamin Englard ,  Eric C. Danziger ,  Austin K. Russell

    IPC: G01S17/89 ,  G01S17/02 ,  G01S17/66

    Abstract: A method for controlling at least a first vehicle sensor includes receiving sensor data generated by one or more vehicle sensors that are configured to sense an environment through which the vehicle is moving, and identifying, based on the received sensor data, one or more current and/or predicted positions of one or more dynamic objects that are currently moving, or are capable of movement, within the environment. The method also includes causing, based on the current and/or predicted positions of the dynamic objects, an area of focus of the first sensor to be adjusted, at least by causing (i) a field of regard of the first sensor, and/or (ii) a spatial distribution of scan lines produced by the first sensor, to be adjusted.

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