公开(公告)号：US20230271615A1

公开(公告)日：2023-08-31

申请号：US18133509

申请日：2023-04-11

Applicant: Aurora Operations, Inc.

Inventor： Warren Smith ,  Ethan Eade ,  Sterling J. Anderson ,  James Andrew Bagnell ,  Bartholomeus C. Nabbe ,  Christopher Paul Urmson

IPC: B60W40/04 ,  B60W30/095 ,  G05D1/02 ,  G05D1/00 ,  G06N20/00 ,  G01S17/931 ,  G01S17/89 ,  G06F18/214 ,  G06F18/21

CPC classification number: B60W40/04 ,  B60W30/0956 ,  G01S17/89 ,  G01S17/931 ,  G05D1/024 ,  G05D1/0088 ,  G06F18/214 ,  G06F18/2178 ,  G06N20/00 ,  B60W2554/803 ,  B60W2554/4041

Abstract: Determining an instantaneous vehicle characteristic (e.g., at least one yaw rate) of an additional vehicle that is in addition to a vehicle being autonomously controlled, and adapting autonomous control of the vehicle based on the determined instantaneous vehicle characteristic of the additional vehicle. For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be adapted based on a determined instantaneous vehicle characteristic of the additional vehicle. In many implementations, the instantaneous vehicle characteristics of the additional vehicle are determined based on data from a phase coherent Light Detection and Ranging (LIDAR) component of the vehicle, such as a phase coherent LIDAR monopulse component and/or a frequency-modulated continuous wave (FMCW) LIDAR component.

公开(公告)号：US11681298B2

公开(公告)日：2023-06-20

申请号：US17516240

申请日：2021-11-01

Applicant: Aurora Operations, Inc.

Inventor： Nathaniel Gist, IV ,  Christopher Williams

IPC: G05D1/02 ,  G06F13/42 ,  B60R11/04 ,  B60R11/00

CPC classification number: G05D1/0231 ,  B60R11/04 ,  G05D1/027 ,  G05D1/0276 ,  G05D1/0278 ,  G06F13/4282 ,  B60R2011/004 ,  B60R2011/007 ,  B60R2011/0068 ,  G06F2213/0002

Abstract: A vehicle agnostic removable pod can be mounted on a vehicle using one or more legs of a pod mount. The removable pod can collect and time stamp a variety of environmental data as well as vehicle data. For example, environmental data can be collected using a sensor suite which can include an IMU, 3D positioning sensor, one or more cameras, and/or a LIDAR unit. As another example, vehicle data can be collected via a CAN bus attached to the vehicle. Environmental data and/or vehicle data can be time stamped and transmitted to a remote server for further processing by a computing device.

公开(公告)号：US20230133611A1

公开(公告)日：2023-05-04

申请号：US18092118

申请日：2022-12-30

Applicant: Aurora Operations, Inc.

Inventor： Warren Smith ,  Ethan Eade ,  Sterling J. Anderson ,  James Andrew Bagnell ,  Bartholomeus C. Nabbe ,  Christopher Paul Urmson

IPC: G01S17/931 ,  G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06V20/58

Abstract: Determining classification(s) for object(s) in an environment of autonomous vehicle, and controlling the vehicle based on the determined classification(s). For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be controlled based on determined pose(s) and/or classification(s) for objects in the environment. The control can be based on the pose(s) and/or classification(s) directly, and/or based on movement parameter(s), for the object(s), determined based on the pose(s) and/or classification(s). In many implementations, pose(s) and/or classification(s) of environmental object(s) are determined based on data from a phase coherent Light Detection and Ranging (LIDAR) component of the vehicle, such as a phase coherent LIDAR monopulse component and/or a frequency-modulated continuous wave (FMCW) LIDAR component.

公开(公告)号：US11619716B1

公开(公告)日：2023-04-04

申请号：US17888364

申请日：2022-08-15

Applicant: Aurora Operations, Inc.

Inventor： Zeb Barber ,  Randy Ray Reibel ,  Sean Spillane

IPC: G01S7/484 ,  G01S7/4861 ,  G01S17/931

Abstract: A device may include an input optical path, a first optical path, a plurality of second optical paths, a first optical amplifier, a plurality of second optical amplifiers, and a control circuit. The input optical path may receive, at one end thereof, a beam from a laser source. The first optical path and the second optical paths may be respectively branched from at the other end of the input optical path. The first optical amplifier may be coupled to the first optical path. The second optical amplifiers may be respectively coupled to the second optical paths. The control circuit may selectively turn on one of the second optical amplifiers to output a modulated optical signal of the beam. The control circuit may turn on the first optical amplifier, in synchronization with turning on any one of the second optical amplifiers, to output a local oscillator (LO) signal.

公开(公告)号：US20230061950A1

公开(公告)日：2023-03-02

申请号：US17463879

申请日：2021-09-01

Applicant: Aurora Operations, Inc.

Inventor： Yekeun Jeong ,  Abhay Vardhan ,  Adam Richard Williams

IPC: G01S17/32 ,  G01S17/58 ,  B60W60/00 ,  G05D1/02

Abstract: Systems and methods for localization of a trailer of an autonomous tractor-trailer are described herein. Some implementations can determine a sector area in an environment of the autonomous tractor-trailer that is predicted to include the trailer, determine a subset of an LIDAR data that is generated by LIDAR sensor(s) of an autonomous tractor of the autonomous tractor-trailer and that is predicted to include the trailer based on the sector area, generate a trailer pose instance of a trailer pose of the trailer based on the subset of the LIDAR data, and cause the trailer pose instance to be utilized in controlling the autonomous tractor-trailer. Additional or alternative implementations can utilize particular LIDAR sensor(s) in generating the trailer pose instance, such as phase coherent LIDAR sensor(s) or polarized LIDAR sensor(s).

公开(公告)号：US11450007B2

公开(公告)日：2022-09-20

申请号：US17674449

申请日：2022-02-17

Applicant: Aurora Operations, Inc.

Inventor： Ethan Eade ,  Michael Bode

IPC: G06F16/29 ,  G01C21/32 ,  G05D1/00 ,  G01C21/30 ,  G01C21/36 ,  G08G1/00 ,  G06T7/12 ,  G06T7/162 ,  G06F16/28 ,  G01C21/00 ,  G01C21/20

Abstract: A relative atlas graph is generated to store mapping data used by an autonomous vehicle. The relative atlas graph may be generated for a geographical area based on observations collected from the geographical area, and may include element nodes corresponding to elements detected from the observations along with edges that connect pairs of element nodes and define relative poses between the elements for connected pairs of element nodes.

公开(公告)号：US11354468B2

公开(公告)日：2022-06-07

申请号：US17483506

申请日：2021-09-23

Applicant: Aurora Operations, Inc.

Inventor： John Michael Wyrwas ,  Jessica Elizabeth Smith ,  Simon Box

IPC: G06F30/27 ,  G06F30/15 ,  G06K9/00 ,  G07C5/08 ,  G05D1/00 ,  G06K9/62 ,  G07C5/00 ,  G05D1/02

Abstract: Logged data from an autonomous vehicle is processed to generate augmented data. The augmented data describes an actor in an environment of the autonomous vehicle, the actor having an associated actor type and an actor motion behavior characteristic. The augmented data may be varied to create different sets of augmented data. The sets of augmented data can be used to create one or more simulation scenarios that in turn are used to produce machine learning models to control the operation of autonomous vehicles.

公开(公告)号：US20220107641A1

公开(公告)日：2022-04-07

申请号：US17553209

申请日：2021-12-16

Applicant: Aurora Operations, Inc.

Inventor： Jean-Sebastien Valois ,  Ethan Eade

IPC: G05D1/00 ,  G05D1/02 ,  G06N20/00

Abstract: Sensor data collected from an autonomous vehicle data can be labeled using sensor data collected from an additional vehicle. The additional vehicle can include a non-autonomous vehicle mounted with a removable hardware pod. In many implementations, removable hardware pods can be vehicle agnostic. In many implementations, generated labels can be utilized to train a machine learning model which can generate one or more control signals for the autonomous vehicle.

公开(公告)号：US20250164644A1

公开(公告)日：2025-05-22

申请号：US19031853

申请日：2025-01-18

Applicant: Aurora Operations, Inc.

Inventor： Warren Smith ,  Ethan Eade ,  Sterling J. Anderson ,  James Andrew Bagnell ,  Bartholomeus C. Nabbe ,  Christopher Paul Urmson

IPC: G01S17/931 ,  G05D1/228 ,  G05D1/247 ,  G06T7/70 ,  G06V20/58

Abstract: Determining classification(s) for object(s) in an environment of autonomous vehicle, and controlling the vehicle based on the determined classification(s). For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be controlled based on determined pose(s) and/or classification(s) for objects in the environment. The control can be based on the pose(s) and/or classification(s) directly, and/or based on movement parameter(s), for the object(s), determined based on the pose(s) and/or classification(s). In many implementations, pose(s) and/or classification(s) of environmental object(s) are determined based on data from a phase coherent Light Detection and Ranging (LIDAR) component of the vehicle, such as a phase coherent LIDAR monopulse component and/or a frequency-modulated continuous wave (FMCW) LIDAR component.

公开(公告)号：US20250164609A1

公开(公告)日：2025-05-22

申请号：US18933680

申请日：2024-10-31

Applicant: Aurora Operations, Inc.

Inventor： Colin Delaney ,  Allen Earman ,  James Ferrara ,  Parth Panchal

IPC: G01S7/481 ,  G01S17/931

Abstract: A Light Detection and Ranging (LIDAR) sensor system for a vehicle includes: a housing defining a cavity, a first mount positioned within the cavity, a second mount positioned within the cavity, and a micro optics assembly. The micro optics assembly includes a first portion provided on the first mount and a second portion provided on the second mount. The first portion includes: a light source to emit a beam, a first optical component to direct the beam, an optical isolator to allow the beam directed by the first optical component to pass through the optical isolator and to prevent light from being reflected back into the light source, and a second optical component to direct the beam after having passed through the optical isolator. The second portion includes an optical chip assembly to receive the beam after having been directed by the second optical component.