公开(公告)号：US12189018B2

公开(公告)日：2025-01-07

申请号：US17655778

申请日：2022-03-21

Applicant: NVIDIA CORPORATION

Inventor： Amir Akbarzadeh ,  Andrew Carley ,  Birgit Henke ,  Si Lu ,  Ivana Stojanovic ,  Jugnu Agrawal ,  Michael Kroepfl ,  Yu Sheng ,  David Nister ,  Enliang Zheng ,  Niharika Arora

IPC: G01S13/04 ,  B60W40/10 ,  B60W40/12 ,  B60W60/00 ,  G01S7/00 ,  G01S7/40 ,  G01S13/86 ,  G01S13/89 ,  G01S13/931 ,  G01S17/04 ,  G01S17/931 ,  G06T7/73 ,  G06V10/26 ,  G06V10/28

Abstract: One or more embodiments of the present disclosure relate to generating RADAR (RAdio Detection And Ranging) point clouds based on RADAR data obtained from one or more RADAR sensors disposed on one or more ego-machines. In these or other embodiments, the RADAR point clouds may be communicated to a distributed map system that is configured to generate map data based on the RADAR point clouds. In some embodiments of the present disclosure, certain compression operations may be performed on the RADAR point clouds to reduce the amount of data that is communicated from the ego-machines to the map system.

公开(公告)号：US20230341234A1

公开(公告)日：2023-10-26

申请号：US17725175

申请日：2022-04-20

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Hon Leung Lee ,  Yizhou Wang ,  Rotem Aviv ,  Birgit Henke ,  Julia Ng ,  Amir Akbarzadeh

IPC: G01C21/36 ,  G01C21/34 ,  B60W60/00

CPC classification number: G01C21/3658 ,  G01C21/3446 ,  G01C21/3453 ,  B60W60/001 ,  B60W2556/40

Abstract: In various examples, a lane planner for generating lane planner output data based on a state and probabilistic action space is provided. A driving system—that operates based on a hierarchical drive planning framework—includes the lane planner and other planning and control components. The lane planner processes lane planner input data (e.g., large lane graph, source node, target node) to generate lane planner output data (e.g., expected time rewards). The driving system can also include a route planner (e.g., a first planning layer) that operates to provide the lane planner input data to the lane planner. The lane planner operates as second planning layer that processes the lane planner input data based at least in part on a state and probabilistic action space of the large lane graph and calculates a time cost associated with navigating from a source node to a target node in the large lane graph.

公开(公告)号：US11698272B2

公开(公告)日：2023-07-11

申请号：US17007873

申请日：2020-08-31

Applicant: NVIDIA Corporation

Inventor： Michael Kroepfl ,  Amir Akbarzadeh ,  Ruchi Bhargava ,  Vaibhav Thukral ,  Neda Cvijetic ,  Vadim Cugunovs ,  David Nister ,  Birgit Henke ,  Ibrahim Eden ,  Youding Zhu ,  Michael Grabner ,  Ivana Stojanovic ,  Yu Sheng ,  Jeffrey Liu ,  Enliang Zheng ,  Jordan Marr ,  Andrew Carley

IPC: G01C21/00 ,  G06N3/02 ,  G01C21/16

CPC classification number: G01C21/3841 ,  G01C21/1652 ,  G01C21/3811 ,  G01C21/3867 ,  G01C21/3878 ,  G01C21/3896 ,  G06N3/02

Abstract: An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.

公开(公告)号：US20220341750A1

公开(公告)日：2022-10-27

申请号：US17726416

申请日：2022-04-21

Applicant: NVIDIA Corporation

Inventor： Amir Akbarzadeh ,  Ruchi Bhargava ,  Vaibhav Thukral

IPC: G01C21/00 ,  G06V20/56

Abstract: In various examples, health of a high definition (HD) map may be monitored to determine whether inaccuracies exist in one or more layers of the HD map. For example, as one or more vehicles rely on the HD map to traverse portions of an environment, disagreements between perception of the one or more vehicles, map layers of the HD map, and/or other disagreement types may be identified and aggregated. Where errors are identified that indicate a drop in health of the HD map, updated data may be crowdsourced from one or more vehicles corresponding to a location of disagreement within the HD map, and the updated data may be used to update, verify, and validate the HD map.

公开(公告)号：US20220333950A1

公开(公告)日：2022-10-20

申请号：US17234397

申请日：2021-04-19

Applicant: NVIDIA Corporation

Inventor： Amir Akbarzadeh ,  Ruchita Bhargava ,  Bhaven Dedhia ,  Rambod Jacoby ,  Jeffrey Liu ,  Vaibhav Thukral

IPC: G01C21/00 ,  G06T7/70 ,  G06T1/20 ,  G08G1/01

Abstract: Systems and methods for vehicle-based determination of HD map update information. Sensor-equipped vehicles may determine locations of various detected objects relative to the vehicles. Vehicles may also determine the location of reference objects relative to the vehicles, where the location of the reference objects in an absolute coordinate system is also known. The absolute coordinates of various detected objects may then be determined from the absolute position of the reference objects and the locations of other objects relative to the reference objects. Newly-determined absolute locations of detected objects may then be transmitted to HD map services for updating.

公开(公告)号：US20220144304A1

公开(公告)日：2022-05-12

申请号：US17483019

申请日：2021-09-23

Applicant: Nvidia Corporation

Inventor： Aidin Ehsanibenafati ,  Jonas Nilsson ,  Amir Akbarzadeh ,  Hae Jong Seo

IPC: B60W60/00 ,  G06K9/62

Abstract: An architecture can generate lane graphs or path determinations, for devices such as robots or autonomous vehicles, using multiple sources of data while satisfying applicable requirements and regulations for operation. A system can fuse together data from multiple sources useful to determine localization. To ensure safety compliance, this fused data is compared against data from systems where safety is trusted and, as long as at least two comparators agree with the fused localization data, the fused localization data can be used and verified to be safety regulation compliant. This system can also fuse together available information useful for lane perception. This fused data is compared against data from systems where the safety is trusted, and as long as at least two comparators for these safety-compliant systems agree with the fused lane graph data, then the fused lane graph data can be provided for navigation and verified to be regulation compliant.