公开(公告)号：US20240270284A1

公开(公告)日：2024-08-15

申请号：US18440669

申请日：2024-02-13

Applicant: Agtonomy

Inventor： Timothy Bucher ,  Steven Holmes ,  Aaron Leiba

IPC: B60W60/00 ,  G01C21/00

CPC classification number: B60W60/00272 ,  G01C21/3811 ,  G01C21/3841 ,  B60W2554/80 ,  B60W2556/50

Abstract: An example method may include receiving map data about a feature of an operational environment in which an autonomous vehicle operates. The method may also include obtaining sensor data about a recurrent object in the operational environment. In addition, the method may include augmenting the map data using the sensor data to be about the feature of the operational environment and the recurrent object in the operational environment. Further, the method may include generating, based on the augmented map data, a map indicating a location of the feature of the operational environment and a location of the recurrent object in the operational environment. The method may include causing the autonomous vehicle to navigate the operational environment using the map.

公开(公告)号：US12037013B1

公开(公告)日：2024-07-16

申请号：US17515244

申请日：2021-10-29

Applicant: Zoox, Inc.

Inventor： Gary Linscott ,  Andreas Pasternak ,  Jefferson Bradfield Packer ,  Marin Kobilarov

IPC: G06N20/00 ,  B60W60/00 ,  G06F11/34

CPC classification number: B60W60/0011 ,  B60W60/00272 ,  G06F11/3452 ,  G06F11/3457 ,  G06N20/00

Abstract: Automating reinforcement learning for autonomous vehicles may include assigning a probability with a scenario and varying that probability based at least in part on changes in performance by the autonomous vehicle associated with that scenario. The amount of time and computational bandwidth required to train a machine-learned component of an autonomous vehicle and the accuracy of the machine-learned component may be improved by determining a reward for performance of the autonomous vehicle in a scenario based at least in part on an severity metric. The impact severity metric may be determined based at least in part on a velocity, angle, and/or interaction area associated with the impact.

公开(公告)号：US11975742B2

公开(公告)日：2024-05-07

申请号：US17329279

申请日：2021-05-25

Applicant: FORD GLOBAL TECHNOLOGIES, LLC

Inventor： Scott Julian Varnhagen ,  Colen McAlister ,  Timothy Andrew Potts, Jr. ,  David Breeden ,  Pragati Satpute ,  Alice Kassar

IPC: B60W60/00 ,  G07C5/08

CPC classification number: B60W60/00274 ,  B60W60/00272 ,  G07C5/085 ,  B60W2420/403 ,  B60W2420/408

Abstract: Methods of refining a planned trajectory of an autonomous vehicle are disclose. For multiple cycles as the vehicle moves along the trajectory, the vehicle will perceive nearby objects. The vehicle will use the perceived object data to calculate a set of candidate updated trajectories. The motion planning system will measure a discrepancy between each candidate updated trajectory and the current trajectory by: (i) determining waypoints along each trajectory; (ii) determining distances between at least some of the waypoints; and (iii) using the distances to measure the discrepancy between the updated trajectory and the current trajectory. The system will use the discrepancy to select, from the set of candidate updated trajectories, a final updated trajectory for the vehicle to follow.

公开(公告)号：US11897517B2

公开(公告)日：2024-02-13

申请号：US17190681

申请日：2021-03-03

Applicant: KABUSHIKI KAISHA TOSHIBA

Inventor： Takayuki Sugiura ,  Akihito Seki

IPC: B60W60/00 ,  G06T7/73 ,  G06V20/56 ,  G06F18/2431

CPC classification number: B60W60/00272 ,  G06F18/2431 ,  G06T7/73 ,  G06V20/56 ,  B60W2420/42 ,  G06T2207/30252

Abstract: According to an embodiment, an information processing device includes one or more processors. The processors are configured to: acquire a plurality of pieces of detection information including detection results at two-dimensional positions different from each other acquired by detection of an object by one or more detection devices through a transmission body, the plurality of pieces of detection information including distortion due to the transmission body that exists between the detection devices and the object; detect a feature point from each of the plurality of pieces of detection information; and estimate, by minimizing an error between a three-dimensional position corresponding to the feature point and a detection position of the feature point corrected based on a distortion map expressing distortion at each of the two-dimensional positions, the distortion map, the three-dimensional position, and the detection position.

公开(公告)号：US20230406361A1

公开(公告)日：2023-12-21

申请号：US18335920

申请日：2023-06-15

Applicant: Waymo LLC

Inventor： Wenjie Luo ,  Cheolho Park ,  Dragomir Anguelov ,  Benjamin Sapp

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/00272 ,  B60W50/0097 ,  B60W2554/4029 ,  B60W2554/4026 ,  B60W2554/4046

Abstract: Methods, systems, and apparatus for generating trajectory predictions for one or more agents. In one aspect, a system comprises one or more computers configured to obtain scene context data characterizing a scene in an environment at a current time point, where the scene includes multiple agents. The one or more computers process the scene context data using a marginal trajectory prediction neural network to generate a respective marginal trajectory prediction for each of the plurality of agents that defines multiple possible trajectories for the agent after the current time point and a respective likelihood score for each of the multiple possible future trajectories. The one or more computers can generate graph data based on the respective marginal trajectory predictions, and the one or more computers can process the graph data using a graph neural network to generate a joint trajectory prediction output for the multiple agents in the scene.

公开(公告)号：US11834045B2

公开(公告)日：2023-12-05

申请号：US17061438

申请日：2020-10-01

Applicant: MOTIONAL AD LLC

Inventor： Scott Drew Pendleton

IPC: B60W30/18 ,  B60W60/00

CPC classification number: B60W30/18159 ,  B60W30/18154 ,  B60W60/00272 ,  B60W2552/53 ,  B60W2554/4044 ,  B60W2555/60 ,  B60W2720/106

Abstract: The subject matter described in this specification is directed to a system and techniques for operating an autonomous vehicle (AV) at a multi-way stop intersection. After detecting the AV is at a primary stopline of the multi-way stop intersection, a planned travel path though the multi-way stop intersection is obtained. If the planned travel path of the AV through the multi-way stop intersection satisfies a set of one or more clearance criteria, the AV proceeds past the primary stopline. The clearance criteria include a criterion that is satisfied in response to detecting the AV is clear to safely merge into a travel lane corresponding to the planned travel path.

公开(公告)号：US11814085B2

公开(公告)日：2023-11-14

申请号：US17214130

申请日：2021-03-26

Applicant: KPIT TECHNOLOGIES LIMITED

Inventor： Soumyo Das ,  Ashutosh Sharma ,  Rastri Dey ,  Srinath Shankarappa Budhavaram

IPC: B60W60/00 ,  B60W40/09

CPC classification number: B60W60/00274 ,  B60W40/09 ,  B60W60/00272 ,  B60W2554/4045 ,  B60W2554/4049

Abstract: A prediction system implemented in a host vehicle to predict a merge cut-in for an autonomous vehicle. The system comprises an input unit for capturing neighboring information of the host vehicle, and a processing unit to receive the captured neighboring information and generate a grid map by determining shape and dimensions of a grid, estimate trajectory of each target vehicle of the one or more target vehicles, based on a driver behavior model of each target vehicle, to determine optimized path of each target vehicle, and generate a global maneuver model by analyzing motion of each neighboring target vehicle, wherein on generation of the global maneuver model a merge cut-in threat for the host vehicle is computed by performing centralized risk management and utilizing the predicted trajectory of the one or more target vehicles.

公开(公告)号：US11810006B2

公开(公告)日：2023-11-07

申请号：US16951459

申请日：2020-11-18

Applicant: GM Global Technology Operations LLC

Inventor： Jaehoon Choe ,  Rajan Bhattacharyya ,  Kyungnam Kim ,  Kenji Yamada

IPC: G06N5/04 ,  B60W60/00 ,  G06V20/58 ,  B60W30/095 ,  G06N5/045

CPC classification number: G06N5/04 ,  B60W60/001 ,  B60W60/0011 ,  B60W60/00272 ,  B60W60/00276 ,  G06V20/58 ,  B60W30/0956 ,  B60W60/0027 ,  B60W2556/10 ,  G06N5/045

Abstract: A vehicle and a system and a method of operating the vehicle. The system includes a reasoning engine, an episodic memory, a resolver and a controller. The reasoning engine infers a plurality of possible scenarios based on a current state of an environment of the vehicle. The episodic memory determines a historical likelihood for each of the plurality of possible scenarios. The resolver selects a scenario from the plurality of possible scenarios using the historical likelihoods. The controller operates the vehicle based on the selected scenario.

公开(公告)号：US11780472B2

公开(公告)日：2023-10-10

申请号：US17010416

申请日：2020-09-02

Applicant: UATC, LLC

Inventor： Lingyun Li ,  Bin Yang ,  Wenyuan Zeng ,  Ming Liang ,  Mengye Ren ,  Sean Segal ,  Raquel Urtasun

IPC: B60W60/00 ,  G06N20/00

CPC classification number: B60W60/00272 ,  B60W60/00276 ,  G06N20/00 ,  B60W2554/4049

Abstract: A computing system can input first relative location embedding data into an interaction transformer model and receive, as an output of the interaction transformer model, motion forecast data for actors relative to a vehicle. The computing system can input the motion forecast data into a prediction model to receive respective trajectories for the actors for a current time step and respective projected trajectories for the actors for a subsequent time step. The computing system can generate second relative location embedding data based on the respective projected trajectories from the second time step. The computing system can produce second motion forecast data using the interaction transformer model based on the second relative location embedding. The computing system can determine second respective trajectories for the actors using the prediction model based on the second forecast data.

公开(公告)号：US11726492B2

公开(公告)日：2023-08-15

申请号：US16848834

申请日：2020-04-14

Applicant: Zoox, Inc.

Inventor： James William Vaisey Philbin ,  Cooper Stokes Sloan ,  Noureldin Ehab Hendy ,  Nicholas George Charchut ,  Chuang Wang

IPC: G05D1/02 ,  B60W60/00 ,  B60W30/095 ,  G06V10/764 ,  G06V10/80 ,  G06V10/82 ,  G06V20/58

CPC classification number: G05D1/0274 ,  B60W30/0956 ,  B60W60/0016 ,  B60W60/00272 ,  B60W60/00276 ,  G06V10/764 ,  G06V10/803 ,  G06V10/82 ,  G06V20/58

Abstract: A collision avoidance system may validate, reject, or replace a trajectory generated to control a vehicle. The collision avoidance system may comprise a secondary perception component that may comprise one or more machine learned models, each of which may be trained to output one or more occupancy maps based at least in part on sensor data of different types. The occupancy maps may include a prediction of whether at least a portion of an environment is occupied at a future time by any one of multiple object types. Occupancy maps associated with a same time may be aggregated into a data structure that may be used to validate, reject, or replace the trajectory.