公开(公告)号：US20240409126A1

公开(公告)日：2024-12-12

申请号：US18416490

申请日：2024-01-18

Applicant: Aurora Operations, Inc

Inventor： Micol MARCHETTI-BOWICK ,  Yiming GU

IPC: B60W60/00 ,  G06N3/08 ,  G06N20/00

Abstract: Systems and methods are directed to generating behavioral predictions in reaction to autonomous vehicle movement. In one example, a computer-implemented method includes obtaining, by a computing system, local scene data associated with an environment external to an autonomous vehicle, the local scene data including actor data for an actor in the environment external to the autonomous vehicle. The method includes extracting, by the computing system and from the local scene data, one or more actor prediction parameters for the actor using a machine-learned parameter extraction model. The method includes determining, by the computing system, a candidate motion plan for the autonomous vehicle. The method includes generating, by the computing system and using a machine-learned prediction model, a reactive prediction for the actor based at least in part on the one or more actor prediction parameters and the candidate motion plan.

公开(公告)号：US12164410B2

公开(公告)日：2024-12-10

申请号：US17567231

申请日：2022-01-03

Applicant: Aurora Operations, Inc.

Inventor： Charly Mario Walther ,  Nathan Steven Appelson ,  Jeffrey Allen Howell

IPC: G06F11/34 ,  G06F11/30

Abstract: Systems and methods for autonomous vehicle testing are provided. In one example embodiment, a computer-implemented method includes obtaining, by a computing system, data indicative of a test of an autonomous vehicle computing system. The method can include determining, by the computing system, one or more autonomous vehicle capabilities that are tested by the test. The method includes determining, by the computing system, a testing scenario that corresponds to the test. The testing scenario can generated at least in part using real-world data. The method includes associating, by the computing system, the data indicative of the test with data indicative of the one or more autonomous vehicle capabilities that are tested by the test and data indicative of the testing scenario. The method includes storing such associated data in in an accessible memory.

公开(公告)号：US12164064B2

公开(公告)日：2024-12-10

申请号：US18301503

申请日：2023-04-17

Applicant: Aurora Operations, Inc.

Inventor： James Allen Haslim ,  Michael Bryan Borden

IPC: G01S7/499 ,  B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  G01S7/481 ,  G01S17/931 ,  G02B6/27

Abstract: A LIDAR system includes a plurality of LIDAR units. Each of the LIDAR units includes a housing defining a cavity. Each of the LIDAR units further includes a plurality of emitters disposed within the cavity. Each of the plurality of emitters is configured to emit a laser beam. The LIDAR system includes a rotating mirror and a retarder. The retarder is configurable in at least a first mode and a second mode to control a polarization state of a plurality of laser beams emitted from each of the plurality of LIDAR units. The LIDAR system includes a polarizing beam splitter positioned relative to the retarder such that the polarizing beam splitter receives a plurality of laser beams exiting the retarder. The polarizing beam is configured to transmit or reflect the plurality of laser beams exiting the retarder based on the polarization state of the laser beams exiting the retarder.

公开(公告)号：US20240395151A1

公开(公告)日：2024-11-28

申请号：US18763626

申请日：2024-07-03

Applicant: Aurora Operations, Inc.

Inventor： Alden James Woodrow ,  Alan Hugh Wells ,  Maxwell MacGavin Pike

IPC: G08G1/00 ,  G05D1/223 ,  G05D1/227 ,  G05D1/692 ,  G07C5/00 ,  G08G1/127 ,  H04W4/029

Abstract: In one example embodiment, a computer-implemented method for managing available capacity at a location for receiving an asset includes obtaining data indicative of one or more first assets that will arrive at a first location within a first transfer hub at an arrival time, the one or more first assets being associated with a first service provider. The method includes determining an available capacity at the first location within the first transfer hub for receiving the one or more first assets at the arrival time. The method includes moving one or more second assets positioned at the first location to a second location within the first transfer hub to increase the available capacity at the first location for receiving the one or more first assets at the arrival time.

公开(公告)号：US20240393784A1

公开(公告)日：2024-11-28

申请号：US18752228

申请日：2024-06-24

Applicant: Aurora Operations, Inc.

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

IPC: G05D1/00 ,  B60W50/023 ,  B60W50/029 ,  G01C21/16 ,  G05D1/247 ,  G05D1/87 ,  G06F11/20

Abstract: 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：US12153961B2

公开(公告)日：2024-11-26

申请号：US17333975

申请日：2021-05-28

Applicant: Aurora Operations, Inc.

Inventor： Justin Ho ,  Noah Zych

IPC: G06F9/50 ,  G06F3/06 ,  B60W50/00 ,  B60W50/02 ,  B60W50/029 ,  G01C21/26 ,  G01C21/34 ,  G08G1/00

Abstract: An autonomous vehicle is operable to follow a primary trajectory that forms a portion of a route. While controlling the autonomous vehicle, the autonomous vehicle calculates a failsafe trajectory to follow as a response to a predetermined type of event.

公开(公告)号：US20240383485A1

公开(公告)日：2024-11-21

申请号：US18320340

申请日：2023-05-19

Applicant: Aurora Operations, Inc.

Inventor： Nemanja Djuric ,  Cuichun Xu

IPC: B60W40/10 ,  B60W60/00

Abstract: Systems and methods for improved tracking of articulated vehicles can obtain, through one or more sensor systems onboard a vehicle, sensor data descriptive of an environment of the vehicle, the environment including an articulated vehicle having at least a first portion and a second portion; generate based on the sensor data, first state data for the first portion of the articulated vehicle and second state data for the second portion of the articulated vehicle; determine an articulated vehicle relationship between the first portion and the second portion based on the first state data for the first portion and the second state data for the second portion; generate, using an articulated vehicle motion model, synthetic motion data for the second portion based on the first state data for the first portion; and update the second state data of the second portion based on the synthetic motion data.

公开(公告)号：US20240369708A1

公开(公告)日：2024-11-07

申请号：US18429174

申请日：2024-01-31

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. CROUCH ,  Brant KAYLOR ,  Randy R. REIBEL

IPC: G01S17/42 ,  G01S7/48 ,  G01S17/89 ,  G06F18/22 ,  G06F18/2413 ,  G06F18/2431 ,  G06V10/40 ,  G06V10/74 ,  G06V10/75 ,  G06V10/764 ,  G06V20/64

Abstract: A method for classifying an object in a point cloud includes computing first and second classification statistics for one or more points in the point cloud. Closest matches are determined between the first and second classification statistics and a respective one of a set of first and second classification statistics corresponding to a set of N classes of a respective first and second classifier, to estimate the object is in a respective first and second class. If the first class does not correspond to the second class, a closest fit is performed between the point cloud and model point clouds for only the first and second classes of a third classifier. The object is assigned to the first or second class, based on the closest fit within near real time of receiving the 3D point cloud. A device is operated based on the assigned object class.

公开(公告)号：US12130624B2

公开(公告)日：2024-10-29

申请号：US17585650

申请日：2022-01-27

Applicant: Aurora Operations, Inc.

Inventor： Michael Lee Phillips ,  Don Burnette ,  Kalin Vasilev Gochev ,  Somchaya Liemhetcharat ,  Harishma Dayanidhi ,  Eric Michael Perko ,  Eric Lloyd Wilkinson ,  Colin Jeffrey Green ,  Wei Liu ,  Anthony Joseph Stentz ,  David Mcallister Bradley ,  Samuel Philip Marden

IPC: G05D1/00 ,  B60W30/095 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18 ,  B60W50/00 ,  G01C21/20 ,  G01C21/34 ,  G05D1/02

CPC classification number: G05D1/0088 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  G01C21/20 ,  G01C21/3453 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0221 ,  G05D1/0223 ,  B60W2554/00

Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can generate constraints based on where objects of interest are predicted to be relative to an autonomous vehicle. A constraint solver can identify navigation decisions for each of the constraints that provide a consistent solution across all constraints. The solution provided by the constraint solver can be in the form of a trajectory path determined relative to constraint areas for all objects of interest. The trajectory path represents a set of navigation decisions such that a navigation decision relative to one constraint doesn't sacrifice an ability to satisfy a different navigation decision relative to one or more other constraints.

公开(公告)号：US12117311B2

公开(公告)日：2024-10-15

申请号：US18161500

申请日：2023-01-30

Applicant: Aurora Operations, Inc.

Inventor： Logan Rockmore ,  Molly Nix

IPC: G01C21/36 ,  B60W30/00 ,  G05D1/00

CPC classification number: G01C21/3697 ,  B60W30/00 ,  G01C21/3626 ,  G01C21/3629 ,  G01C21/3667 ,  G05D1/0061

Abstract: An on-board computing system for a vehicle is configured to generate and selectively present a set of autonomous-switching directions within a navigation user interface for the operator of the vehicle. The autonomous-switching directions can inform the operator regarding changes to the vehicle's mode of autonomous operation. The on-board computing system can generate the set of autonomy-switching directions based on the vehicle's route and other information associated with the route, such as autonomous operation permissions (AOPs) for route segments that comprise the route. The on-board computing device can selectively present the autonomy-switching directions based on locations associated with anticipated changes in autonomous operations determined for the route of the vehicle, the vehicle's location, and the vehicle's speed. In addition, the on-board computing device is further configured to present audio alerts associated with the autonomy-switching directions to the operator of the vehicle.