公开(公告)号：US11906661B2

公开(公告)日：2024-02-20

申请号：US17853674

申请日：2022-06-29

Applicant: Aurora Operations, Inc.

Inventor： Sen Lin ,  Andrew Steil Michaels

IPC: G01S7/48 ,  G01S7/481 ,  G01S17/931

CPC classification number: G01S7/4813 ,  G01S17/931

Abstract: A structure of a silicon photonics device for LIDAR includes a first insulating structure and a second insulating structure disposed above one or more etched silicon structures overlying a substrate member. A metal layer is disposed above the first insulating structure without a prior deposition of a diffusion barrier and adhesion layer. A thin insulating structure is disposed above the second insulating structure. A first configuration of the metal layer, the first insulating structure and the one or more etched silicon structures forms a free-space coupler. A second configuration of the thin insulating structure above the second insulating structure forms an edge coupler.

公开(公告)号：US20240053453A1

公开(公告)日：2024-02-15

申请号：US18352798

申请日：2023-07-14

Applicant: Aurora Operations, Inc.

Inventor： Zeb William Barber ,  Stefan Heineman ,  Randy Ray Reibel

IPC: G01S7/4913 ,  G01S7/481 ,  G01S17/931 ,  G01S17/34

CPC classification number: G01S7/4913 ,  G01S7/4817 ,  G01S17/931 ,  G01S17/34

Abstract: A light detection and ranging (lidar) system may include a transceiver, a first device including a laser source configured to generate a beam, and one or more optical components, a second device including one or more analog-to-digital converters (ADCs), and a processor configured to alternately turn on the first device and turn on the transceiver. The first device may be configured to generate, based on the beam, an optical signal associated with a local oscillator (LO) signal. The transceiver may be configured to transmit the optical signal to an environment, in response to transmitting the optical signal, receive a returned optical signal that is reflected from an object in the environment, and pair the returned optical signal with the LO signal to generate an electrical signal. The second device may be configured to generate, based on the electrical signal, a digital signal.

公开(公告)号：US20240045034A1

公开(公告)日：2024-02-08

申请号：US17883273

申请日：2022-08-08

Applicant: Aurora Operations, Inc.

Inventor： Ryan Galloway ,  Evan Rogers

IPC: G01S7/481 ,  G01S7/48 ,  G01S17/931 ,  G01S17/34

CPC classification number: G01S7/4817 ,  G01S7/4813 ,  G01S7/4808 ,  G01S17/931 ,  G01S17/34

Abstract: A light detection and ranging (LIDAR) sensor system includes a transmitter, one or more scanning optics, an optical module, and a receiver. The transmitter is configured to output a beam having a linear polarization. The optical module is configured to provide the beam to the one or more scanning optics. The one or more scanning optics are configured to output the beam received from the optical module. The receiver is spaced from the transmitter and receiver configured to receive a return beam from reflection of the beam by an object.

公开(公告)号：US11787439B1

公开(公告)日：2023-10-17

申请号：US17989898

申请日：2022-11-18

Applicant: Aurora Operations, Inc.

Inventor： James Andrew Bagnell ,  Shervin Javdani ,  Venkatraman Narayanan

IPC: B60W60/00 ,  B60W40/04

CPC classification number: B60W60/00 ,  B60W40/04

Abstract: Example methods for multistage autonomous vehicle motion planning include obtaining sensor data descriptive of an environment of the autonomous vehicle; identifying one or more objects in the environment based on the sensor data; generating a plurality of candidate strategies, wherein each candidate strategy of the plurality of candidate strategies comprises a set of discrete decisions respecting the one or more objects, wherein generating the plurality of candidate strategies includes: determining that at least two strategies satisfy an equivalence criterion, such that the plurality of candidate strategies include at least one candidate strategy corresponding to an equivalence class representative of a plurality of different strategies that are based on different discrete decisions; determining candidate trajectories respectively for the plurality of candidate strategies; and initiating control of the autonomous vehicle based on a selected candidate trajectory.

公开(公告)号：US11754687B1

公开(公告)日：2023-09-12

申请号：US18148897

申请日：2022-12-30

Applicant: Aurora Operations, Inc.

Inventor： Ashish Bhardwaj ,  Colin Delaney ,  Stefan Heinemann ,  Amir Hosseini ,  Pruthvi Jujjavarapu ,  Parth Panchai ,  Zhizhong Tang

IPC: G01C3/08 ,  G01S7/4911 ,  G01S7/481 ,  G01S7/4912

CPC classification number: G01S7/4911 ,  G01S7/4814 ,  G01S7/4917

Abstract: A modular LIDAR system comprising a seed laser configured to output a beam, a modular modulator coupled to receive the beam output the seed laser and modulate the beam to create a modulated beam, a modular amplifier coupled to receive the modulated beam from the modular modulator and generate an amplified beam, and a modular transceiver chip coupled to the modular modulator and the modular amplifier, the transceiver chip configured to emit the beam perpendicularly from a first surface of the transceiver chip through an optical window; and receive a reflected beam from a target through the optical window.

公开(公告)号：US11748446B2

公开(公告)日：2023-09-05

申请号：US17720645

申请日：2022-04-14

Applicant: Aurora Operations Inc.

Inventor： Carl Magnus Wrenninge

IPC: G06F18/214

CPC classification number: G06F18/214

Abstract: A method and system for synthetic data generation and analysis includes generating a synthetic dataset. A set of parameters is determined and scenarios are generated from the parameters that represent three-dimensional scenes. Synthetic images are rendered for the scenarios. A synthetic dataset may be formed to have a controlled variation in attributes of synthetic images over a synthetic dataset. The synthetic dataset may be used for training or evaluating a machine learning model.

公开(公告)号：US20230227061A1

公开(公告)日：2023-07-20

申请号：US17576553

申请日：2022-01-14

Applicant: Aurora Operations, Inc.

Inventor： Brian D. Ziebart ,  Paul Vernaza

IPC: B60W60/00 ,  G05B13/02 ,  B60W50/00

CPC classification number: B60W60/001 ,  G05B13/0265 ,  B60W50/00 ,  B60W2050/0022

Abstract: Techniques for improving the performance of an autonomous vehicle (AV) are described herein. A system can determine a plan for the AV in a driving scenario that optimizes an initial cost function of a control algorithm of the AV. The system can obtain data describing an observed human driving path in the driving scenario. Additionally, the system can determine for each cost dimension in the plurality of cost dimensions, a quantity that compares the estimated cost to the observed cost of the observed human driving path. Moreover, the system can determine a function of a sum of the quantities determined for each cost dimension in the plurality of cost dimensions. Subsequently, the system can use an optimization algorithm to adjust one or more weights of the plurality of weights applied to the plurality of cost dimensions to optimize the function of the sum of the quantities.

公开(公告)号：US20230080540A1

公开(公告)日：2023-03-16

申请号：US17476784

申请日：2021-09-16

Applicant: Aurora Operations, Inc.

Inventor： Carl Jonas Magnus Unger ,  Carl Magnus Wrenninge

IPC: G01S17/931 ,  G01S17/08 ,  G06F30/27 ,  G01S7/497

Abstract: Simulating data received by a detection and ranging sensor including determining a first set of sample points on a surface of a simulated detector, the first set of sample points including a first sample point at a first location on the detector and a second sample point at a second location on the detector; generating a first ray associated with the first sample point, the first ray representing electromagnetic radiation reflected at a first point of intersection within a scene and incident on the first sample point on the surface of the detector; generating a second ray associated with the second sample point; the second ray representing electromagnetic radiation reflected at a second point of intersection within the scene and incident on the second sample point on the surface of the detector; and generating a ray-based data representation based on the first ray and the second ray.

公开(公告)号：US11513289B1

公开(公告)日：2022-11-29

申请号：US17535024

申请日：2021-11-24

Applicant: Aurora Operations, Inc.

Inventor： Sen Lin ,  Andrew Steil Michaels

IPC: G02B6/12 ,  G02B6/136 ,  G01S7/481

Abstract: A structure of a silicon photonics device for LIDAR includes a first insulating structure and a second insulating structure disposed above one or more etched silicon structures overlying a substrate member. A metal layer is disposed above the first insulating structure without a prior deposition of a diffusion barrier and adhesion layer. A thin insulating structure is disposed above the second insulating structure. A first configuration of the metal layer, the first insulating structure and the one or more etched silicon structures forms a free-space coupler. A second configuration of the thin insulating structure above the second insulating structure forms an edge coupler.

公开(公告)号：US12298404B2

公开(公告)日：2025-05-13

申请号：US18520416

申请日：2023-11-27

Applicant: Aurora Operations, Inc.

Inventor： Peter Hansen ,  Hatem Alismail

IPC: G01S17/89 ,  G01S7/48 ,  G01S17/08 ,  G01S17/88 ,  G01S17/894 ,  G01S17/931 ,  G05D1/00 ,  G06T7/73

Abstract: A system for determining a pose of a vehicle and building maps from vehicle priors processes received ground intensity LIDAR data including intensity data for points believed to be on the ground and height information to form ground intensity LIDAR (GIL) images including pixels in 2D coordinates where each pixel contains an intensity value, a height value, and x- and y-gradients of intensity and height. The GIL images are formed by filtering aggregated ground intensity LIDAR data falling into a same spatial bin on the ground and using a registration algorithm to align two GIL images relative to one another by estimating a 6-degree-of-freedom pose with associated uncertainty that minimizes error between the two GIL images. The aligned GIL images are provided as a pose estimate to a localizer. The system may provide online localization and pose estimation, prior building, and prior to prior alignment pose estimation using image-based techniques.