公开(公告)号：US20240361767A1

公开(公告)日：2024-10-31

申请号：US18655950

申请日：2024-05-06

Applicant: Aurora Operations, Inc.

Inventor： Albert Costa ,  Michael L. Phillips ,  Michael Bode

IPC: G05D1/00 ,  B60W30/095 ,  G01C21/34 ,  G05D1/227 ,  G05D1/644 ,  G05D1/65 ,  G05D1/692 ,  G05D1/81

CPC classification number: G05D1/0223 ,  B60W30/0953 ,  G01C21/3415 ,  G05D1/227 ,  G05D1/644 ,  G05D1/65 ,  G05D1/692 ,  G05D1/81

Abstract: Systems and methods for controlling the motion of an autonomous are provided. In one example embodiment, a computer implemented method includes obtaining, by one or more computing devices on-board an autonomous vehicle, data associated with one or more objects that are proximate to the autonomous vehicle. The data includes a predicted path of each respective object. The method includes identifying at least one object as an object of interest based at least in part on the data associated with the object of interest. The method includes generating cost data associated with the object of interest. The method includes determining a motion plan for the autonomous vehicle based at least in part on the cost data associated with the object of interest. The method includes providing data indicative of the motion plan to one or more vehicle control systems to implement the motion plan for the autonomous vehicle.

公开(公告)号：US12130620B2

公开(公告)日：2024-10-29

申请号：US18175748

申请日：2023-02-28

Applicant: Aurora Operations, Inc.

Inventor： Scott C. Poeppel ,  Noah Zych ,  Matthew Shaw Wood ,  Dirk John Vandenberg, III

IPC: G05D1/00 ,  G07C5/00 ,  G08G1/017

CPC classification number: G05D1/0022 ,  G05D1/0088 ,  G05D1/0221 ,  G07C5/008 ,  G08G1/0175

Abstract: Systems and methods are provided for remotely detecting a status associated with an autonomous vehicle and generating control actions in response to such detections. In one example, a computing system can access a third-party communication associated with an autonomous vehicle. The computing system can determine, based at least in part on the third-party communication, a predetermined identifier associated with the autonomous vehicle. The computing system can determine, based at least in part on the third-party communication, a status associated with the autonomous vehicle, and transmit one or more control messages to the autonomous vehicle based at least in part on the predetermined identifier and the status associated with the autonomous vehicle.

公开(公告)号：US20240351610A1

公开(公告)日：2024-10-24

申请号：US18735825

申请日：2024-06-06

Applicant: Aurora Operations, Inc.

Inventor： James Robert Curry ,  Fangrong Peng

IPC: B60W60/00 ,  G01S17/89 ,  G01S17/931

CPC classification number: B60W60/001 ,  G01S17/89 ,  G01S17/931 ,  B60W2556/40

Abstract: Various examples are directed to systems and methods for directing a field-of-view of a first sensor positioned on an autonomous vehicle. In one example, at least one processor selects a goal location on at least one travel way in an environment of the autonomous vehicle. The selecting of the goal location is based at least in part on map data describing at least one travel way in an environment of the autonomous vehicle and pose data describing a position of the autonomous vehicle in the environment. The at least one processor determines a field-of-view position to direct the first sensor towards the goal location based at least in part on the sensor position data. The at least one processor sends a field-of-view command to the first sensor. The field-of-view command modifies the field-of-view of the first sensor based on the field-of-view position.

公开(公告)号：US12110042B1

公开(公告)日：2024-10-08

申请号：US17501480

申请日：2021-10-14

Applicant: Aurora Operations, Inc.

Inventor： Anh Tuan Hoang ,  Harshayu Girase ,  Sai Bhargav Yalamanchi ,  Micol Marchetti-Bowick

IPC: B60W60/00 ,  B60W40/04 ,  B60W50/00 ,  B60W50/06 ,  G06N3/044 ,  G06N3/045

CPC classification number: B60W60/00274 ,  B60W40/04 ,  B60W50/0097 ,  B60W50/06 ,  B60W60/0011 ,  G06N3/044 ,  G06N3/045 ,  B60W2554/4041 ,  B60W2554/4044

Abstract: Example aspects of the present disclosure describe the generation of more realistic trajectories for a moving actor with a hybrid technique using an algorithmic trajectory shaper in a machine-learned trajectory prediction pipeline. In this manner, for example, systems and methods of the present disclosure leverage the predictive power of machine-learning approaches combined with a priori knowledge about physically realistic trajectories for a given actor as encoded in an algorithmic approach.

公开(公告)号：US20240310835A1

公开(公告)日：2024-09-19

申请号：US18674442

申请日：2024-05-24

Applicant: Aurora Operations, Inc.

Inventor： David McAllister Bradley ,  Chenggang Liu ,  Daoyuan Jia

IPC: G05D1/00 ,  B60W60/00

CPC classification number: G05D1/0212 ,  B60W60/0011

Abstract: Systems and methods for vehicle spatial path sampling are provided. The method includes obtaining an initial travel path for an autonomous vehicle from a first location to a second location and vehicle configuration data indicative of one or more physical constraints of the autonomous vehicle. The method includes determining one or more secondary travel paths for the autonomous vehicle from the first location to the second location based on the initial travel path and the vehicle configuration data. The method includes generating a spatial envelope based on the one or more secondary travel paths that indicates a plurality of lateral offsets from the initial travel path. And, the method includes generating a plurality of trajectories for the autonomous vehicle to travel from the first location to the second location such that each of the plurality of trajectories include one or more lateral offsets identified by the spatial envelope.

公开(公告)号：US12092754B2

公开(公告)日：2024-09-17

申请号：US17229338

申请日：2021-04-13

Applicant: Aurora Innovation, Inc.

Inventor： Bo Li ,  James Curry ,  Shaogang Wang

IPC: G01S7/02 ,  G01S7/48 ,  G01S13/86 ,  G01S13/931

CPC classification number: G01S7/021 ,  G01S7/4804 ,  G01S13/865 ,  G01S13/931

Abstract: Ranging and detection data is processed to identify or correct for multipath reflection. A sensor point that represents a location of an object, the location based on an incidence of an electromagnetic wave received at a sensor is obtained. The first sensor point is determined to be a product of multipath reflection. A first point of reflection on a surface of a surface model is determined. The location of the first sensor point is corrected based on the first point of reflection on the surface of the surface model.

公开(公告)号：US12091043B2

公开(公告)日：2024-09-17

申请号：US18109113

申请日：2023-02-13

Applicant: Aurora Operations, Inc.

Inventor： Jake Charland ,  Ethan Eade ,  Karthik Lakshmanan ,  Daniel Munoz ,  Samuel Sean ,  Yuchen Xie ,  Luona Yang

IPC: B60W60/00 ,  G01S7/41 ,  G01S7/48 ,  G01S13/58 ,  G01S17/66 ,  G06T15/08

CPC classification number: B60W60/001 ,  G06T15/08 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2510/0638

Abstract: A method may include obtaining lidar data comprising a plurality of lidar returns from an environment of an autonomous vehicle. The lidar data may be processed with a machine learning model to generate, for the plurality of lidar returns, a plurality of first outputs that each identify a respective lidar return as belonging to an object or non-object and a plurality of second outputs that identify lidar returns belonging to objects as harmful or non-harmful to the autonomous vehicle. A subset of the lidar returns identified as belonging to objects that (i) do not correspond to any of a plurality of pre-classified objects and (ii) were identified as harmful to the autonomous vehicle may be determined. The autonomous vehicle may be controlled based at least in part on the subset of lidar returns.

公开(公告)号：US20240300525A1

公开(公告)日：2024-09-12

申请号：US18269209

申请日：2021-12-17

Applicant: Aurora Operations, Inc.

Inventor： James Andrew Bagnell ,  Arun Venkatraman ,  Sanjiban Choudhury ,  Venkatraman Narayanan

IPC: B60W60/00 ,  G06N20/00

CPC classification number: B60W60/001 ,  G06N20/00 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2556/10

Abstract: Systems and methods related to controlling an autonomous vehicle (“AV”) are described herein. Implementations can process actor(s) from a past episode of locomotion of a vehicle, and stream(s) in an environment of the vehicle during the past episode to generate predicted output(s). The actor(s) may each be associated with a corresponding object in the environment of the vehicle, and the stream(s) may each represent candidate navigation paths in the environment of the vehicle. Further, implementations can process the predicted output(s) to generate further predicted output(s), and can compare the predicted output(s) to associated reference label(s). The processing can be performed utilizing layer(s) or distinct, additional layer(s) of machine learning (“ML”) model(s). Implementations can update the layer(s) or the additional layer(s) based on the comparing, and subsequently use the ML model(s) in controlling the AV.

公开(公告)号：US12085674B2

公开(公告)日：2024-09-10

申请号：US17824820

申请日：2022-05-25

Applicant: Aurora Operations, Inc.

Inventor： Lei Wang ,  Sen Lin ,  Andrew Steil Michaels

IPC: G01C3/08 ,  G01S7/481 ,  H01S5/02253

CPC classification number: G01S7/4814 ,  H01S5/02253

Abstract: A light detection and ranging (LIDAR) device includes a first wafer layer, a laser assembly disposed on the first wafer layer, a capping layer, a second wafer layer, and a photonic integrated circuit (PIC). The capping layer is coupled to the first wafer layer and configured to seal the laser assembly. The second wafer layer is at least partially coupled to the first wafer layer. The PIC is formed on the second wafer layer. The second wafer includes an exit feature configured to outcouple laser light from the laser assembly.

公开(公告)号：US12071144B2

公开(公告)日：2024-08-27

申请号：US17139481

申请日：2020-12-31

Applicant: Aurora Operations, Inc.

Inventor： Tian Lan ,  Galen Clark Haynes ,  Alexander David Styler

IPC: B60W50/00 ,  B60W30/00 ,  B60W30/095 ,  G05D1/00 ,  G06T7/20 ,  G06V20/58 ,  G08G1/16

CPC classification number: B60W50/0097 ,  B60W30/00 ,  B60W30/0953 ,  B60W30/0956 ,  G05D1/0088 ,  G05D1/0214 ,  G06T7/20 ,  G06V20/58 ,  G06V20/584 ,  G08G1/166 ,  B60W2554/00 ,  G06T2207/30241 ,  G06T2207/30261

Abstract: Systems and methods for determining object motion and controlling autonomous vehicles are provided. In one example embodiment, a computing system includes processor(s) and one or more tangible, non-transitory, computer readable media that collectively store instructions that when executed by the processor(s) cause the computing system to perform operations. The operations include obtaining data associated with a first object and one or more second objects within a surrounding environment of an autonomous vehicle. The operations include determining an interaction between the first object and the one or more second objects based at least in part on the data. The operations include determining one or more predicted trajectories of the first object within the surrounding environment based at least in part on the interaction between the first object and the one or more second objects. The operations include outputting data indicative of the one or more predicted trajectories of the first object.