公开(公告)号：US11148668B2

公开(公告)日：2021-10-19

申请号：US16717058

申请日：2019-12-17

申请人： UATC, LLC

发明人： Colin Jeffrey Green

IPC分类号： B60W30/18 ,  B60W50/00

摘要： The present disclosure is directed to a system for autonomous vehicle control for reverse motion. The system accesses a route with one or more route sections, the one or more route sections including a reverse driving section through an environment. The system accesses physical model data representing a position and actual orientation of the autonomous vehicle in the environment. The system modifies the physical model data to generate a simulated orientation for the autonomous vehicle based on a direction associated with the reverse driving section. The system transmits data associated with the reverse driving section of the accessed route and the modified physical model data to a motion planner. The system receives from the motion planner, one or more control signals for the autonomous vehicle. The system transmits the one or more control signals to a vehicle control system of the autonomous vehicle.

公开(公告)号：US20210309186A1

公开(公告)日：2021-10-07

申请号：US16860393

申请日：2020-04-28

申请人： UATC, LLC

发明人： Wesly Mason Rice ,  Owen Watt ,  Douglass Zhong ,  Robert Kip Terhune ,  Andrew Joseph Chellman ,  Aaron Gregory Burton

IPC分类号： B60S1/52 ,  B60S1/56

摘要： Systems, devices, and methods for cleaning a sensor are provided. A sensor can include a housing. The housing can include a curved lens. The sensor can further include an inlet configured to receive a pressurized fluid. The sensor can further include a rotatable fluid distributor positioned within the housing. The rotatable fluid distributor can be configured to receive the pressurized fluid from the inlet. The sensor can further include a plurality of nozzles positioned around an exterior of the housing. Each of the plurality of nozzles can be configured to direct a flow of the pressurized fluid onto at least a portion of the curved lens. When the pressurized fluid is provided to the inlet, the rotatable fluid distributor can be configured to receive the pressurized fluid from the inlet and distribute the pressurized fluid to only a subset of the plurality of nozzles at any time.

公开(公告)号：US20210302984A1

公开(公告)日：2021-09-30

申请号：US17344507

申请日：2021-06-10

申请人： UATC, LLC

发明人： Albert Costa ,  Michael L. Phillips ,  Michael Bode

IPC分类号： G05D1/02 ,  G05D1/00 ,  G01C21/34 ,  B60W30/095

摘要： Systems and methods for controlling the motion of an autonomous are provided. In one example embodiment, a computer implemented method includes obtaining, by one or more computing devices on-board an autonomous vehicle, data associated with one or more objects that are proximate to the autonomous vehicle. The data includes a predicted path of each respective object. The method includes identifying at least one object as an object of interest based at least in part on the data associated with the object of interest. The method includes generating cost data associated with the object of interest. The method includes determining a motion plan for the autonomous vehicle based at least in part on the cost data associated with the object of interest. The method includes providing data indicative of the motion plan to one or more vehicle control systems to implement the motion plan for the autonomous vehicle.

公开(公告)号：US11124080B2

公开(公告)日：2021-09-21

申请号：US16369454

申请日：2019-03-29

申请人： UATC, LLC

发明人： Richard Brian Donnelly ,  Sean Jeffrey Kelly ,  Justin Wayne Ho ,  James Lee Epifano

IPC分类号： B60L53/36 ,  B60L53/38 ,  B60L53/64 ,  B60L55/00 ,  B60L53/66 ,  B60L58/12 ,  B60L53/68 ,  B60W20/13 ,  G05D1/00 ,  G06Q30/02 ,  G06Q50/06 ,  G07C5/00 ,  H02J7/00 ,  H02J7/02

摘要： Vehicle control systems can include one or more location sensors, an energy storage device, one or more charge sensors and one or more vehicle computing devices. The location sensor(s) can determine a current location of a vehicle, while the charge sensor(s) can determine a current state of charge of an energy storage device that can be located onboard the vehicle to provide operating power for one or more vehicle systems. The vehicle computing device(s) can communicate the current location of the vehicle and current state of charge of the energy storage device to a remote computing device, receive from the remote computing device a charging control signal determined, at least in part, from the current location of the vehicle and the current state of charge of the energy storage device, and control charging of the energy storage device in accordance with the charging control signal.

公开(公告)号：US20210288816A1

公开(公告)日：2021-09-16

申请号：US16866973

申请日：2020-05-05

申请人： UATC, LLC

发明人： Michael David Sorensen ,  Matthew Charles Ellis Wood ,  Matthew James Harris

IPC分类号： H04L9/32 ,  H04W4/44

摘要： Systems and methods for vehicle message signing are provided. A method includes obtaining, by a vehicle computing system of an autonomous vehicle, a computing system state associated with the vehicle computing system and a message from at least one remote process running a computing device remote from the vehicle computing system. The message is associated with an intended recipient process running on the vehicle computing system. The method includes determining an originating sender for the message. The originating sender is indicative of a remote process that generated the message. The method includes determining a routing action for the message based on a comparison of the originating sender and the computing system state. The routing action includes at least one of a discarding action or a forwarding action to the intended recipient process. The method includes performing the routing action for the message.

公开(公告)号：US20210271245A1

公开(公告)日：2021-09-02

申请号：US16832758

申请日：2020-03-27

申请人： UATC, LLC

发明人： David McAllister Bradley ,  Chenggang Liu ,  Daoyuan Jia

IPC分类号： G05D1/02 ,  G05D1/00 ,  B60W60/00

摘要： Systems and methods for vehicle spatial path sampling are provided. The method includes obtaining an initial travel path for an autonomous vehicle from a first location to a second location and vehicle configuration data indicative of one or more physical constraints of the autonomous vehicle. The method includes determining one or more secondary travel paths for the autonomous vehicle from the first location to the second location based on the initial travel path and the vehicle configuration data. The method includes generating a spatial envelope based on the one or more secondary travel paths that indicates a plurality of lateral offsets from the initial travel path. And, the method includes generating a plurality of trajectories for the autonomous vehicle to travel from the first location to the second location such that each of the plurality of trajectories include one or more lateral offsets identified by the spatial envelope.

公开(公告)号：US20210271242A1

公开(公告)日：2021-09-02

申请号：US17181733

申请日：2021-02-22

申请人： UATC, LLC

发明人： Moslem Kazemi ,  Sameer Bardapurkar

IPC分类号： G05D1/00 ,  B60T7/22 ,  B60W30/09 ,  B60W30/095

摘要： Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, the disclosed technology can include receiving state data that includes information associated with states of an autonomous vehicle and an environment external to the autonomous vehicle. Responsive to the state data satisfying vehicle stoppage criteria, vehicle stoppage conditions can be determined to have occurred. A severity level of the vehicle stoppage conditions can be selected from a plurality of available severity levels respectively associated with a plurality of different sets of constraints. A motion plan can be generated based on the state data. The motion plan can include information associated with locations for the autonomous vehicle to traverse at time intervals corresponding to the locations. Further, the locations can include a current location of the autonomous vehicle and a destination location at which the autonomous vehicle stops traveling.

公开(公告)号：US20210271240A1

公开(公告)日：2021-09-02

申请号：US17322231

申请日：2021-05-17

申请人： UATC, LLC

发明人： Aaron L. Greenfield ,  Diana Yanakiev ,  Frederic Tschanz ,  Charles J. Tytler

IPC分类号： G05D1/00 ,  B60W50/029 ,  B60W50/023 ,  G06F11/20

摘要： In one example embodiment, a computer-implemented method includes receiving data representing a motion plan of the autonomous vehicle via a plurality of control lanes configured to implement the motion plan to control a motion of the autonomous vehicle, the plurality of control lanes including at least a first control lane and a second control lane, and controlling the first control lane to implement the motion plan. The method includes detecting one or more faults associated with implementation of the motion plan by the first control lane or the second control lane, or in generation of the motion plan, and in response to one or more faults, controlling the first control lane or the second control lane to adjust the motion of the autonomous vehicle based at least in part on one or more fault reaction parameters associated with the one or more faults.

公开(公告)号：US20210270947A1

公开(公告)日：2021-09-02

申请号：US17321045

申请日：2021-05-14

申请人： UATC, LLC

发明人： Jean-Sebastien Valois ,  David McAllister Bradley ,  Adam Charles Watson ,  Peter Anthony Melick ,  Andrew Gilbert Miller

IPC分类号： G01S7/497 ,  G01S17/931 ,  G01S17/08

摘要： A vehicle sensor calibration system can detect an SDV on a turntable surrounded by a plurality of fiducial targets, and rotate the turntable using a control mechanism to provide the sensor system of the SDV with a sensor view of the plurality of fiducial targets. The vehicle sensor calibration system can receive, over a communication link with the SDV, a data log corresponding to the sensor view from the sensor system of the SDV recorded as the SDV rotates on the turntable. Thereafter, the vehicle sensor calibration system can analyze the sensor data to determine a set of calibration parameters to calibrate the sensor system of the SDV.

公开(公告)号：US11099569B2

公开(公告)日：2021-08-24

申请号：US16211376

申请日：2018-12-06

申请人： UATC, LLC

发明人： Galen Clark Haynes

IPC分类号： G05D1/02 ,  B60W30/095 ,  G06T7/70 ,  G06N20/00 ,  G05D1/00 ,  G08G1/01 ,  B60W40/00

摘要： Systems and methods for determining object prioritization and predicting future object locations for an autonomous vehicle are provided. A method can include obtaining, by a computing system comprising one or more processors, state data descriptive of at least a current or past state of a plurality of objects that are perceived by an autonomous vehicle. The method can further include determining, by the computing system, a priority classification for each object in the plurality of objects based at least in part on the respective state data for each object. The method can further include determining, by the computing system, an order at which the computing system determines a predicted future state for each object based at least in part on the priority classification for each object and determining, by the computing system, the predicted future state for each object based at least in part on the determined order.