公开(公告)号：US10809364B2

公开(公告)日：2020-10-20

申请号：US16196630

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Tomi P. Maila ,  Pranav Maheshwari ,  Benjamin Englard

IPC: G01S7/521 ,  G01S7/497 ,  G01S17/42 ,  G05D1/02 ,  G01S17/89 ,  G01S17/87 ,  G01S7/481 ,  G06N20/00 ,  G01S17/06 ,  G01S17/58 ,  G01S17/86 ,  G01S17/931 ,  G06T7/246 ,  G06T7/73 ,  B60W30/095 ,  G06K9/00 ,  G06T7/521 ,  G01S7/48 ,  G01S17/08 ,  H04N5/232 ,  G06K9/62 ,  G06T3/60 ,  G06T5/00 ,  G06T7/20 ,  G06T7/00 ,  G05D1/00

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 configured to sense an environment by following a scan pattern comprising component scan lines. The method includes obtaining, based on the sensor data, a point cloud frame. Additionally, the method includes identifying a first pixel and a second pixel that are co-located within a field of regard and overlap a point cloud object within the point cloud frame and calculating a difference between a depth associated with the first pixel and a depth associated with the second pixel. The method includes determining a relative velocity of the point cloud object by dividing the difference in depth data by a time difference between when the depth associated with the first pixel was sensed and the depth associated with the second pixel was sensed.

公开(公告)号：US10514462B2

公开(公告)日：2019-12-24

申请号：US16176529

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger

IPC: G01S17/89 ,  G01S7/40 ,  G01S7/41 ,  G01S13/42 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W10/04 ,  G06N3/08 ,  G01S17/93 ,  G06T3/40 ,  G06T17/05 ,  G06T17/20 ,  G01S7/48 ,  G01S7/481 ,  G01S17/02 ,  G06T7/50 ,  G06K9/42 ,  G06K9/62 ,  G01S17/66 ,  G06K9/00 ,  G06T15/08 ,  G01S7/497 ,  B60W50/06 ,  G01S13/93 ,  G06T7/20

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.

公开(公告)号：US10481605B1

公开(公告)日：2019-11-19

申请号：US16138427

申请日：2018-09-21

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Tomi P. Maila ,  Vahid R. Ramezani ,  Benjamin Englard

IPC: B60W50/029 ,  G05D1/02 ,  G08G1/01 ,  G01C21/34

Abstract: Various software techniques for managing operation of autonomous vehicles based on sensor data are disclosed herein. A computing system may generate, based on a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating, a normal path plan separate from a safe path plan, or a hybrid path plan including a normal path plan and a safe path plan. In generating the safe path plan, the computing system may generate and concatenate a set of motion primitives. When a fault condition occurs, the computing device may transition from executing the normal path plan to executing the safe path plan to safely stop the autonomous vehicle.

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.

公开(公告)号：US20190113920A1

公开(公告)日：2019-04-18

申请号：US16149225

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Pranav Maheshwari ,  Shubham C. Khilari ,  Vahid R. Ramezani

IPC: G05D1/00 ,  G06N3/08 ,  G06N5/02 ,  G05D1/02 ,  G01C21/34

Abstract: A computer-readable medium stores instructions executable by one or more processors to implement a self-driving control architecture for controlling an autonomous vehicle. A perception component receives sensor data and generates signals descriptive of a current state of the environment. Based on those signals, a prediction component generates signals descriptive of one or more predicted future environment states. A motion planner generates decisions for maneuvering the vehicle toward a destination, at least by using the signals descriptive of the current and future environment states to set values of one or more independent variables in an objective equation. The objective equation includes terms corresponding to different driving objectives over a finite time horizon. Values of one or more dependent variables in the objective equation are determined by solving the equation subject to a set of constraints, and values of the dependent variables are used to generate decisions for maneuvering the vehicle.

公开(公告)号：US12158524B2

公开(公告)日：2024-12-03

申请号：US17121723

申请日：2020-12-14

Applicant: Luminar Technologies, Inc.

Inventor： Pranav Maheshwari ,  Vahid R. Ramezani ,  Benjamin Englard ,  István Peter Burbank ,  Shubham C. Khilari ,  Meseret R. Gebre ,  Austin K. Russell

IPC: G01B11/26 ,  G01S7/48 ,  G01S7/481 ,  G01S17/88 ,  G01S17/89 ,  G01S17/931 ,  G06N20/00

Abstract: A method for determining a scan pattern according to which a sensor equipped with a scanner scans a field of regard (FOR) is presented. The method comprises obtaining, by processing hardware, a plurality of objective functions, each of the objective functions specifying a cost for a respective property of the scan pattern, expressed in terms of one or more operational parameters of the scanner. The method further includes applying, by the processing hardware, an optimization scheme to the plurality of objective functions to generate the scan pattern. The method further includes scanning the FOR according to the generated scan pattern.

公开(公告)号：US20200074230A1

公开(公告)日：2020-03-05

申请号：US16560046

申请日：2019-09-04

Applicant: Luminar Technologies, Inc.

Inventor： Benjamin Englard ,  Miguel Alexander Peake

IPC: G06K9/62

Abstract: Automated training dataset generators that generate feature training datasets for use in real-world autonomous driving applications based on virtual environments are disclosed herein. The feature training datasets may be associated with training a machine learning model to control real-world autonomous vehicles. In some embodiments, an occupancy grid generator is used to generate an occupancy grid indicative of an environment of an autonomous vehicle from an imaging scene that depicts the environment. The occupancy grid is used to control the vehicle as the vehicle moves through the environment. In further embodiments, a sensor parameter optimizer may determine parameter settings for use by real-world sensors in autonomous driving applications. The sensor parameter optimizer may determine, based on operation of the autonomous vehicle, an optimal parameter setting of the parameter setting where the optimal parameter setting may be applied to a real-world sensor associated with real-world autonomous driving applications.

公开(公告)号：US20200041619A1

公开(公告)日：2020-02-06

申请号：US16196650

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Pranav Maheshwari ,  Tomi P. Maila ,  Benjamin Englard

IPC: G01S7/481 ,  G06T7/521 ,  G01S17/93 ,  G01S17/89 ,  G01S17/08 ,  G01S7/48 ,  G01S7/497 ,  H04N5/232

Abstract: A computer-implemented method of determining a relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle configured to sense an environment following a scan pattern. The method also includes obtaining, based on the sensor data, a point cloud frame. The point cloud frame comprises a plurality of points of depth data and a time at which the depth data was captured. Additionally, the method includes selecting two or more points of the scan pattern that overlap the object. The selected points are located on or near a two-dimensional surface corresponding to the object, and the depth data for two or more of the selected points are captured at different times. The method includes calculating the relative velocity between the vehicle and the object based on the depth data and capture times associated with the selected points.

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.

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.