公开(公告)号：US20190113919A1

公开(公告)日：2019-04-18

申请号：US16149221

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Joseph Augenbraun

IPC: G05D1/00 ,  G05D1/02 ,  G01C21/36

Abstract: A computer-readable medium stores instructions executable by one or more processors to implement an aggregate self-driving control architecture (SDCA) for controlling an autonomous vehicle. The aggregate SDCA includes a plurality of SDCAs each including a different motion planner. Each motion planner is configured to receive signals descriptive of a current state of an environment through which the autonomous vehicle is moving, and each SDCA is configured to generate candidate decisions for controlling the vehicle by using the respective motion planner to process the received signals. The aggregate SDCA also includes a decision arbiter configured to receive candidate decisions output by the SDCAs, generate decisions for controlling the vehicle by dynamically selecting from among the candidate decisions based on a current state of a desired mode signal, and provide signals indicative of the generated decisions to one or more operational subsystems of the vehicle to effectuate maneuvering of the vehicle.

公开(公告)号：US20200041648A1

公开(公告)日：2020-02-06

申请号：US16196597

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Eric C. Danziger ,  Austin K. Russell ,  Benjamin Englard

IPC: G01S17/89 ,  G01S17/58 ,  B60W30/095 ,  G06T7/73 ,  G06T7/246 ,  G06K9/00 ,  G06N20/00

Abstract: A computer-implemented method of determining relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle. The one or more sensors are configured to sense an environment through which the vehicle is moving by following a scan pattern comprising component scan lines. The method includes obtaining, by one or more processors, a point cloud frame based on the sensor data and representative of the environment and identifying, by the one or more processors, a point cloud object within the point cloud frame. The method further includes determining, by the one or more processors, that the point cloud object is skewed relative to an expected configuration of the point cloud object, and determining, by the one or more processors, a relative velocity of the point cloud object by analyzing the skew of the object.

公开(公告)号：US10509127B2

公开(公告)日：2019-12-17

申请号：US16176607

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger ,  Joseph Augenbraun ,  Austin K. Russell

IPC: G01S17/89 ,  G01S7/40 ,  G01S7/41 ,  G01S13/42 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W10/04 ,  G06N3/08 ,  G01S13/93 ,  G06K9/62 ,  G01S17/93 ,  G06T3/40 ,  G06T17/05 ,  G06T17/20 ,  G01S7/48 ,  G01S7/481 ,  G01S17/02 ,  G06T7/50 ,  G06K9/42 ,  G01S17/66 ,  G06K9/00 ,  G06T15/08 ,  G01S7/497 ,  B60W50/06 ,  G06T7/20

Abstract: A method for controlling a first sensor configured to sense an environment through which a vehicle is moving includes receiving sensor data generated by one or more sensors of the vehicle as the vehicle moves through the environment, identifying, by one or more processors and based on at least a portion of the received sensor data, one or more road portions along which the vehicle is expected to travel, and determining, by one or more processors, a configuration of the identified road portions, at least in part by determining a slope of at least one of the identified road portions. The method also includes determining, by one or more processors analyzing at least the determined configuration, an elevation of a field of regard of the first sensor that satisfies one or more visibility criteria, and causing the first sensor to be adjusted in accordance with the determined elevation.

公开(公告)号：US20190180502A1

公开(公告)日：2019-06-13

申请号：US16176567

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger ,  Austin K. Russell

IPC: G06T17/20 ,  G06T17/05 ,  G06T3/40 ,  G01S17/89 ,  G01S17/93

Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense an environment through which a vehicle is moving. The point cloud frame includes scan lines arranged according to a particular spatial distribution. The method also includes either generating an enhanced point cloud frame with a larger number of points than the received point cloud frame, or constructing, by one or more processors and based on points of the received point cloud frame, a three-dimensional mesh. The method also includes generating, by performing an interpolation function on the enhanced point cloud frame or a virtual surface provided by the three-dimensional mesh, a normalized point cloud frame, and generating, using the normalized point cloud frame, signals descriptive of a current state of the environment through which the vehicle is moving.

公开(公告)号：US20190179027A1

公开(公告)日：2019-06-13

申请号：US16176649

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger

IPC: G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  G06T7/50 ,  G06K9/42 ,  G06N3/08

CPC classification number: G01S17/89 ,  B60W10/04 ,  B60W30/18145 ,  B60W30/18163 ,  B60W50/06 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/12 ,  B60W2550/13 ,  B60W2550/142 ,  B60W2550/20 ,  B60W2550/22 ,  B60W2720/106 ,  B60W2720/12 ,  B60W2720/125 ,  G01S7/40 ,  G01S7/4026 ,  G01S7/417 ,  G01S7/4808 ,  G01S7/4817 ,  G01S7/4972 ,  G01S13/42 ,  G01S13/931 ,  G01S17/023 ,  G01S17/66 ,  G01S17/936 ,  G01S2007/403 ,  G01S2007/4034 ,  G01S2013/9367 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/0221 ,  G05D1/0231 ,  G05D1/0248 ,  G05D1/0257 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00832 ,  G06K9/42 ,  G06K9/6256 ,  G06K9/6261 ,  G06K9/6267 ,  G06N3/08 ,  G06T3/4007 ,  G06T7/20 ,  G06T7/50 ,  G06T15/08 ,  G06T17/05 ,  G06T17/20 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense a vehicle environment. Each of the points in the frame has associated two-dimensional coordinates and an associated parameter value. The method also includes generating a normalized point cloud frame by adding interpolated points not present in the received frame, at least by, for each interpolated point, identifying one or more neighboring points having associated two-dimensional coordinates that are within a threshold distance of two-dimensional coordinates for the interpolated point, and calculating an estimated parameter value of the interpolated point using, for each of the identified neighboring points, a distance between the two-dimensional coordinates and the parameter value associated with the identified neighboring point. The method also includes generating, using the normalized point cloud frame, signals descriptive of a current state of the vehicle environment.

公开(公告)号：US20190113918A1

公开(公告)日：2019-04-18

申请号：US16149219

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Joseph Augenbraun

IPC: G05D1/00 ,  G06F17/30 ,  G05D1/02

Abstract: A computer-readable medium stores instructions executable by one or more processors to implement an aggregate self-driving control architecture (SDCA) for controlling an autonomous vehicle. The aggregate SDCA includes a plurality of SDCAs each including a different motion planner. Each motion planner is configured to receive signals descriptive of a current state of an environment through which the autonomous vehicle is moving, and each SDCA is configured to generate candidate decisions for controlling the autonomous vehicle by using the respective motion planner to process the received signals. The aggregate SDCA also includes a decision arbiter configured to receive the candidate decisions generated by the SDCAs, generate decisions for controlling the autonomous vehicle by processing the candidate decisions, and provide signals indicative of the generated decisions to one or more operational subsystems of the vehicle to effectuate maneuvering of the vehicle.

公开(公告)号：US12266146B2

公开(公告)日：2025-04-01

申请号：US18340573

申请日：2023-06-23

Applicant: Luminar Technologies, Inc.

Inventor： Pranav Maheshwari ,  Vahid R. Ramezani ,  Ismail El Houcheimi ,  Benjamin Englard

IPC: G08G1/04 ,  B60W40/072 ,  G05D1/00 ,  G06N20/00 ,  G06T7/11 ,  G06T11/20 ,  G06V10/426 ,  G06V10/50 ,  G06V10/764 ,  G06V10/77 ,  G06V20/56 ,  G08G1/01 ,  B60W60/00

Abstract: A system for detecting boundaries of lanes on a road is presented. The system includes an imaging system configured to produce a set of pixels associated with lane markings on a road. The system also includes one or more processors configured to detect boundaries of lanes on the road, including: receive, from the imaging system, the set of pixels associated with lane markings; partition the set of pixels into a plurality of groups, each of the plurality of groups associated with one or more control points; and generate a first spline that traverses the control points of the plurality of groups, the first spline describing a boundary of a lane on the road.

公开(公告)号：US11521009B2

公开(公告)日：2022-12-06

申请号：US16559945

申请日：2019-09-04

Applicant: Luminar Technologies, Inc.

Inventor： Miguel Alexander Peake ,  Benjamin Englard

IPC: G06K9/00 ,  G06K9/62 ,  G06N3/00 ,  G08G1/0962 ,  G06N5/04 ,  G06F13/28 ,  G06T7/246 ,  G06T7/50 ,  G05D1/00 ,  G05D1/02 ,  G01S7/48 ,  G01C21/28 ,  G06V20/56 ,  G06N20/00 ,  G06F9/451 ,  G06T11/60

Abstract: Automated training dataset generators that generate feature training datasets for use in real-world autonomous driving applications based on virtual environments are disclosed herein. The feature training datasets may be associated with training a machine learning model to control real-world autonomous vehicles. In some embodiments, an occupancy grid generator is used to generate an occupancy grid indicative of an environment of an autonomous vehicle from an imaging scene that depicts the environment. The occupancy grid is used to control the vehicle as the vehicle moves through the environment. In further embodiments, a sensor parameter optimizer may determine parameter settings for use by real-world sensors in autonomous driving applications. The sensor parameter optimizer may determine, based on operation of the autonomous vehicle, an optimal parameter setting of the parameter setting where the optimal parameter setting may be applied to a real-world sensor associated with real-world autonomous driving applications.

公开(公告)号：US10606270B2

公开(公告)日：2020-03-31

申请号：US16149223

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Gauri Gandhi ,  Pranav Maheshwari

IPC: G05D1/00 ,  G05D1/02 ,  G06F16/28 ,  B60W40/02 ,  G01C21/34 ,  G06N3/08 ,  G06N5/02 ,  G01C21/36

Abstract: A computer-readable medium stores instructions executable by one or more processors to implement a self-driving control architecture for controlling an autonomous vehicle. A perception and prediction component receives sensor data, and generates (1) an observed occupancy grid indicating which cells are currently occupied in a two-dimensional representation of the environment, and (2) predicted occupancy grids indicating which cells are expected to be occupied later. A mapping component provides navigation data for guiding the vehicle toward a destination, and a cost map generation component is configured to generate, based on the observed occupancy grid, the predicted occupancy grid(s), and the navigation data, cost maps that each specify numerical values representing a cost, at a respective instance of time, of occupying certain cells in a two-dimensional representation of the environment. A motion planner generates a grid path through the environment based on the cost maps, and corresponding decisions for maneuvering the vehicle.

公开(公告)号：US20200097010A1

公开(公告)日：2020-03-26

申请号：US16138513

申请日：2018-09-21

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Tomi P. Maila ,  Vahid R. Ramezani ,  Benjamin Englard

IPC: G05D1/02 ,  G05D1/00 ,  B60W50/029

Abstract: Various software techniques for managing operation of autonomous vehicles based on sensor data are disclosed herein. A computing system may generate, based on a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating, a normal path plan separate from a safe path plan, or a hybrid path plan including a normal path plan and a safe path plan. In generating the safe path plan, the computing system may generate and concatenate a set of motion primitives. When a fault condition occurs, the computing device may transition from executing the normal path plan to executing the safe path plan to safely stop the autonomous vehicle.