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121.发明授权公开(公告)号：US12248075B2
公开(公告)日：2025-03-11
申请号：US18672986
申请日：2024-05-23
Applicant: Aurora Operations, Inc.
Inventor： Raquel Urtasun , Min Bai , Shenlong Wang
IPC: G01S17/931 , G06T7/10 , G06T7/70 , G06T17/00 , G06T17/10 , G06V10/26 , G06V10/80 , G06V20/56 , G06V20/58
Abstract: Systems and methods for identifying travel way features in real time are provided. A method can include receiving two-dimensional and three-dimensional data associated with the surrounding environment of a vehicle. The method can include providing the two-dimensional data as one or more input into a machine-learned segmentation model to output a two-dimensional segmentation. The method can include fusing the two-dimensional segmentation with the three-dimensional data to generate a three-dimensional segmentation. The method can include storing the three-dimensional segmentation in a classification database with data indicative of one or more previously generated three-dimensional segmentations. The method can include providing one or more datapoint sets from the classification database as one or more inputs into a machine-learned enhancing model to obtain an enhanced three-dimensional segmentation. And, the method can include identifying one or more travel way features based at least in part on the enhanced three-dimensional segmentation.
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公开(公告)号：US20250077942A1
公开(公告)日：2025-03-06
申请号：US18241883
申请日：2023-09-03
Applicant: Aurora Operations, Inc.
Inventor： Mohamed Chaabane , Benjamin Kaplan , Yevgeni Litvin , Stephen O'Hara , Sean Vig
Abstract: A unified boundary machine learning model is capable of processing perception data received from various types of perception sensors on an autonomous vehicle to generate perceived boundaries of various semantic boundary types. Such perceived boundaries may then be used, for example, to control the autonomous vehicle, e.g., by generating a trajectory therefor. In some instances, the various semantic boundary types detectable by a unified boundary machine learning model may include at least a virtual construction semantic boundary type associated with a virtual boundary formed by multiple spaced apart construction elements, as well as an additional semantic boundary type associated with one or more other types of boundaries such as boundaries defined by physical barriers, painted or taped lines, road edges, etc.
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公开(公告)号：US20250077741A1
公开(公告)日：2025-03-06
申请号：US18458376
申请日：2023-08-30
Applicant: Aurora Operations, Inc.
Inventor： Chris Lorena Nogales Iturri
Abstract: An example method includes (a) obtaining reference decision data describing a reference decision associated with navigating a driving scenario, wherein the reference decision data comprises a target action and a corresponding object identifier associated with the target action; and label data that comprises a validity interval associated with the reference decision, the validity interval indicating a time period of the driving scenario during which the reference decision is valid; (b) simulating a performance of a system under test (SUT) in the driving scenario to generate SUT decision data describing one or more SUT decisions associated with controlling an autonomous vehicle to navigate the driving scenario; and (c) determining, based on a comparison of the reference decision data and the SUT decision data, a validation state for the SUT.
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公开(公告)号：US20250065912A1
公开(公告)日：2025-02-27
申请号：US18941767
申请日：2024-11-08
Applicant: Aurora Operations, Inc.
Inventor： Niels Joubert , Benjamin Kaplan , Stephen O'Hara
IPC: B60W60/00 , B60W40/10 , G01C21/00 , G08G1/0967
Abstract: A live map system may be used to propagate observations collected by autonomous vehicles operating in an environment to other autonomous vehicles and thereby supplement a digital map used in the control of the autonomous vehicles. In addition, a live map system in some instances may be used to propagate location-based teleassist triggers to autonomous vehicles operating within an environment. A location-based teleassist trigger may be generated, for example, in association with a teleassist session conducted between an autonomous vehicle and a remote teleassist system proximate a particular location, and may be used to automatically trigger a teleassist session for another autonomous vehicle proximate that location and/or to propagate a suggested action to that other autonomous vehicle.
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公开(公告)号：USD1061396S1
公开(公告)日：2025-02-11
申请号：US29870305
申请日：2023-01-20
Applicant: Aurora Operations, Inc.
Designer： Woonghee Han , John Paxton , Albert Shane
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Patent Agency Ranking
公开(公告)号：US12223677B1
公开(公告)日：2025-02-11
申请号：US18354415
申请日：2023-07-18
Applicant: Aurora Operations, Inc.
Inventor： Louis Foucard
Abstract: An example method includes (a) obtaining sensor data descriptive of an environment of an autonomous vehicle; (b) obtaining a plurality of travel way markers from map data descriptive of the environment; (c) determining, using a machine-learned object detection model and based on the sensor data, an association between one or more travel way markers of the plurality of travel way markers and an object in the environment; and (d) generating, using the machine-learned object detection model, an offset with respect to the one or more travel way markers of a spatial region of the environment associated with the object.
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公开(公告)号：US12222832B2
公开(公告)日：2025-02-11
申请号：US18466286
申请日：2023-09-13
Applicant: Aurora Operations, Inc.
Inventor： Sivabalan Manivasagam , Shenlong Wang , Wei-Chiu Ma , Kelvin Ka Wing Wong , Wenyuan Zeng , Raquel Urtasun
Abstract: The present disclosure provides systems and methods that combine physics-based systems with machine learning to generate synthetic LiDAR data that accurately mimics a real-world LiDAR sensor system. In particular, aspects of the present disclosure combine physics-based rendering with machine-learned models such as deep neural networks to simulate both the geometry and intensity of the LiDAR sensor. As one example, a physics-based ray casting approach can be used on a three-dimensional map of an environment to generate an initial three-dimensional point cloud that mimics LiDAR data. According to an aspect of the present disclosure, a machine-learned model can predict one or more dropout probabilities for one or more of the points in the initial three-dimensional point cloud, thereby generating an adjusted three-dimensional point cloud which more realistically simulates real-world LiDAR data.
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公开(公告)号：US12221077B2
公开(公告)日：2025-02-11
申请号：US17359063
申请日：2021-06-25
Applicant: Aurora Operations, Inc.
Inventor： Wesly Mason Rice
Abstract: Nozzles and systems for cleaning sensors of a vehicle are provided. An adjustable nozzle can include an inlet configured to receive a pressurized fluid, an adjustable oscillator coupled with the inlet, and an outlet coupled with the adjustable oscillator. The adjustable oscillator can be configured to receive the pressurized fluid from the inlet and generate an oscillating fluid, and can include a first oscillation wall comprising a first adjustable chamber modifier wall and a second oscillation wall comprising a second adjustable chamber modifier wall. The first adjustable chamber modifier wall and the second adjustable chamber modifier wall can define an adjustable mixing chamber configured to generate the oscillating fluid having one or more properties that are adjustable by the first adjustable chamber modifier wall or the second adjustable chamber modifier wall. The outlet can be configured to receive the oscillating fluid and eject the oscillating fluid from the adjustable nozzle.
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公开(公告)号：US20250037298A1
公开(公告)日：2025-01-30
申请号：US18910738
申请日：2024-10-09
Applicant: Aurora Operations, Inc.
Inventor： Ming Liang , Wei-Chiu Ma , Sivabalan Manivasagam , Raquel Urtasun , Bin Yang , Ze Yang
Abstract: Systems and methods for generating simulation data based on real-world dynamic objects are provided. A method includes obtaining two- and three-dimensional data descriptive of a dynamic object in the real world. The two- and three-dimensional information can be provided as an input to a machine-learned model to receive object model parameters descriptive of a pose and shape modification with respect to a three-dimensional template object model. The parameters can represent a three-dimensional dynamic object model indicative of an object pose and an object shape for the dynamic object. The method can be repeated on sequential two- and three-dimensional information to generate a sequence of object model parameters over time. Portions of a sequence of parameters can be stored as simulation data descriptive of a simulated trajectory of a unique dynamic object. The parameters can be evaluated by an objective function to refine the parameters and train the machine-learned model.
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公开(公告)号：US12210121B1
公开(公告)日：2025-01-28
申请号：US18641011
申请日：2024-04-19
Applicant: Aurora Operations, Inc.
IPC: G01C3/08 , G01S7/481 , G01S17/931
Abstract: A light detection and ranging (LIDAR) system for a vehicle can include: a light source configured to output a transmit beam at a first orientation; a reflective surface configured to redirect the transmit beam from the first orientation to a second orientation; and a lens interface configured to receive the transmit beam at the first orientation and focus the transmit beam onto the reflective surface; wherein the LIDAR system emits the transmit beam at the second orientation into an environment of the LIDAR system.
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