公开(公告)号：US12116015B2

公开(公告)日：2024-10-15

申请号：US17528559

申请日：2021-11-17

Applicant: Aurora Operations, Inc.

Inventor： Bin Yang ,  Ming Liang ,  Wenyuan Zeng ,  Min Bai ,  Raquel Urtasun

IPC: B60W60/00 ,  G05D1/00 ,  G06N20/00

CPC classification number: B60W60/0027 ,  G05D1/0221 ,  G05D1/0231 ,  G06N20/00 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2554/4041 ,  B60W2554/4044 ,  B60W2556/45

Abstract: Techniques for improving the performance of an autonomous vehicle (AV) by automatically annotating objects surrounding the AV are described herein. A system can obtain sensor data from a sensor coupled to the AV and generate an initial object trajectory for an object using the sensor data. Additionally, the system can determine a fixed value for the object size of the object based on the initial object trajectory. Moreover, the system can generate an updated initial object trajectory, wherein the object size corresponds to the fixed value. Furthermore, the system can determine, based on the sensor data and the updated initial object trajectory, a refined object trajectory. Subsequently, the system can generate a multi-dimensional label for the object based on the refined object trajectory. A motion plan for controlling the AV can be generated based on the multi-dimensional label.

公开(公告)号：US20240310837A1

公开(公告)日：2024-09-19

申请号：US18670554

申请日：2024-05-21

Applicant: Aurora Operations, Inc.

Inventor： Nathaniel Gist, IV ,  Christopher Williams

IPC: G05D1/00 ,  B60R11/00 ,  B60R11/04 ,  G05D1/245 ,  G05D1/247 ,  G05D1/248 ,  G06F13/42

CPC classification number: G05D1/0231 ,  B60R11/04 ,  G05D1/245 ,  G05D1/247 ,  G05D1/248 ,  G06F13/4282 ,  B60R2011/004 ,  B60R2011/0068 ,  B60R2011/007 ,  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：US20240280704A1

公开(公告)日：2024-08-22

申请号：US18646163

申请日：2024-04-25

Applicant: Aurora Operations, Inc.

Inventor： Michael Bryan Borden ,  Daniel Thomas Sing ,  Adam David Kenvarg

IPC: G01S17/931 ,  G01S7/481 ,  G01S17/06 ,  G01S17/42

CPC classification number: G01S17/931 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/06 ,  G01S17/42

Abstract: A LIDAR system includes a first prism disk rotatable about a first axis at a first rotational speed; a first LIDAR unit having a first plurality of emitters to emit a first plurality of laser beams which pass through the first prism disk to produce a first plurality of refracted laser beams; a second prism disk rotatable about a second axis at a second rotational speed; a second LIDAR unit having a second plurality of emitters to emit a second plurality of laser beams which pass through the second prism disk to produce a second plurality of refracted laser beams; and an optic rotatable about a third axis at a third rotational speed that is faster than at least one of the first rotational speed or the second rotational speed. The optic reflects the first plurality of refracted laser beams and reflects the second plurality of refracted laser beams.

公开(公告)号：US20240272637A1

公开(公告)日：2024-08-15

申请号：US18647223

申请日：2024-04-26

Applicant: Aurora Operations, Inc.

Inventor： Chenggang Liu ,  David McAllister Bradley ,  Daoyuan Jia

IPC: G05D1/00 ,  B60W30/18 ,  B60W60/00

CPC classification number: G05D1/0217 ,  B60W60/001 ,  B60W30/18163 ,  B60W2520/06 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2552/10 ,  B60W2555/60

Abstract: Systems and methods for basis path generation are provided. In particular, a computing system can obtain a target nominal path. The computing system can determine a current pose for an autonomous vehicle. The computing system can determine, based at least in part on the current pose of the autonomous vehicle and the target nominal path, a lane change region. The computing system can determine one or more merge points on the target nominal path. The computing system can, for each respective merge point in the one or more merge points, generate a candidate basis path from the current pose of the autonomous vehicle to the respective merge point. The computing system can generate a suitability classification for each candidate basis path. The computing system can select one or more candidate basis paths based on the suitability classification for each respective candidate basis path in the plurality of candidate basis paths.

公开(公告)号：US12061477B2

公开(公告)日：2024-08-13

申请号：US17977396

申请日：2022-10-31

Applicant: Aurora Operations, Inc.

Inventor： Cameron David Christie ,  Anuranga Sajith Gunaratne

IPC: G05D1/00 ,  G01S13/931 ,  G01S15/931 ,  G01S17/93

CPC classification number: G05D1/0088 ,  G05D1/0238 ,  G05D1/0255 ,  G05D1/0257 ,  G01S13/931 ,  G01S15/931 ,  G01S17/93

Abstract: An autonomous vehicle includes an array of sensors, a processor, and a switch. The array of sensors generate sensor data related to one or more objects in an external environment of the autonomous vehicle and the processor determines an environmental context. The switch transfers the sensor data from the array of sensors to the processor, where the switch is configured to: (a) receive first sensor data from a first sensor group of the array of sensors; (b) receive second sensor data from a second sensor group of the array of sensors; (c) determine an order of transmission of the first sensor data over the second sensor data in response to the environmental context; and (d) transmit the first sensor data to the processor prior to transmitting the second sensor data based on the order of transmission.

公开(公告)号：US20240253529A1

公开(公告)日：2024-08-01

申请号：US18630558

申请日：2024-04-09

Applicant: Aurora Operations, Inc.

Inventor： Daniel Adam Kanitz

IPC: B60N2/02 ,  B60J5/04 ,  B60J5/06 ,  B60N2/00 ,  B60N2/01 ,  B60N2/12 ,  B60N2/20 ,  B60N2/22 ,  B60N2/832 ,  B60N2/90 ,  B60R3/00 ,  E05D15/04 ,  E05D15/34

CPC classification number: B60N2/0292 ,  B60J5/0455 ,  B60J5/0479 ,  B60J5/062 ,  B60N2/002 ,  B60N2/01 ,  B60N2/0224 ,  B60N2/12 ,  B60N2/203 ,  B60N2/832 ,  B60N2/933 ,  E05D15/04 ,  E05D15/34 ,  B60N2/02253 ,  B60N2/22 ,  B60N2205/30 ,  B60R3/002 ,  E05Y2900/531

Abstract: An autonomous can include one or more configurable passenger seats to accommodate a plurality of different seating configurations. For instance, the one or more passenger seats can include a passenger seat defining a seating orientation. The passenger seat can be configurable in a first configuration in which the seating orientation is directed towards a forward end of the autonomous vehicle and a second configuration in which the seating orientation is directed towards a rear end of the autonomous vehicle. The passenger seat can include a seatback rotatable about a pivot point on a base of the passenger seat to switch between the first configuration and the second configuration. Alternatively, or additionally, the autonomous vehicle can include a door assembly pivotably fixed to a vehicle body of the autonomous vehicle such that a swept path of the door assembly when moving between an open position and a closed position is reduced.

公开(公告)号：US20240219534A1

公开(公告)日：2024-07-04

申请号：US18356518

申请日：2023-07-21

Applicant: Aurora Operations, Inc.

Inventor： Ashish Bhardwaj ,  Colin Delaney ,  Stefan Heinemann ,  Amir Hosseini ,  Pruthvi Jujjavarapu ,  Parth Panchal ,  Zhizhong Tang

IPC: G01S7/4911 ,  G01S7/481 ,  G01S7/4912

CPC classification number: G01S7/4911 ,  G01S7/4814 ,  G01S7/4917

Abstract: A modular LIDAR system comprising a seed laser configured to output a beam, a modular modulator coupled to receive the beam output the seed laser and modulate the beam to create a modulated beam, a modular amplifier coupled to receive the modulated beam from the modular modulator and generate an amplified beam, and a modular transceiver chip coupled to the modular modulator and the modular amplifier, the transceiver chip configured to emit the beam perpendicularly from a first surface of the transceiver chip through an optical window; and receive a reflected beam from a target through the optical window.

公开(公告)号：US12027043B2

公开(公告)日：2024-07-02

申请号：US17647815

申请日：2022-01-12

Applicant: Aurora Operations, Inc.

Inventor： Sean Vig ,  Shivali Chandra

IPC: G06F17/00 ,  G06F16/29 ,  G06V20/58 ,  G08G1/01 ,  G08G1/0967

CPC classification number: G08G1/0141 ,  G06F16/29 ,  G06V20/582 ,  G06V20/584 ,  G08G1/0112 ,  G08G1/0129 ,  G08G1/096716

Abstract: Systems, devices, products, apparatuses, and/or methods, for detecting a missing traffic face, including: obtaining sensor data that includes a plurality of images associated with a geographic location including a roadway and associated with a plurality of image capture locations in the geographic location, determining in a subset of images of the plurality of images, a plurality of image areas associated with at least one predicted traffic face, determining a plurality of rays that project through 3-D spaces of the geographic location associated with the plurality of image areas from a subset of image capture locations of the plurality of image capture locations associated with the subset of images, and identifying at least one location of a traffic face in the geographic location based on a sum of unit vectors of the plurality of rays that project through the 3-D spaces of the geographic location at the at least one location of the traffic face.

公开(公告)号：US20240192343A1

公开(公告)日：2024-06-13

申请号：US18427016

申请日：2024-01-30

Applicant: Aurora Operations, Inc.

Inventor： Sen Lin ,  Andrew Steil Michaels

IPC: G01S7/499 ,  G01S7/481 ,  G01S7/4863 ,  G01S17/931

CPC classification number: G01S7/499 ,  G01S7/4816 ,  G01S7/4863 ,  G01S17/931

Abstract: A light detection and ranging (LIDAR) sensor system includes a dual-polarization optical antenna, a single-polarization optical antenna, a first receiver, and a second receiver. The dual-polarization optical antenna is configured to (i) emit a transmit beam with a first polarization orientation and (ii) and detect a return beam having a second polarization orientation. The single-polarization optical antenna is configured to detect the return beam having the second polarization orientation.

公开(公告)号：US11994630B2

公开(公告)日：2024-05-28

申请号：US17827679

申请日：2022-05-28

Applicant: Aurora Operations, Inc.

Inventor： Andrew Steil Michaels ,  Sen Lin

IPC: G01S7/497 ,  B60W60/00 ,  G01S7/481 ,  G01S7/4915 ,  G01S7/493 ,  G01S17/06 ,  G01S17/32 ,  G01S17/58 ,  G01S17/931 ,  H01S3/00 ,  G01B9/02003 ,  G01S7/4911

CPC classification number: G01S7/497 ,  B60W60/001 ,  G01S7/4814 ,  G01S7/4915 ,  G01S7/493 ,  G01S17/06 ,  G01S17/32 ,  G01S17/58 ,  G01S17/931 ,  H01S3/0057 ,  G01B9/02003 ,  G01S7/4911 ,  H01S3/0085

Abstract: A light detection and ranging (LIDAR) system includes a laser and a calibration unit. The laser is configured to generate a laser beam based on a particular laser waveform that is associated with at least one parameter of a plurality of parameters. The calibration unit is configured to determine a particular value for the at least one parameter of the plurality of parameters to compensate for distortion characteristics of the laser. The calibration unit is configured to determine the particular value based on an output frequency of the laser beam. The calibration unit is configured to update the particular laser waveform with the particular value of the at least one parameter of the plurality of parameters.