公开(公告)号：US10551485B1

公开(公告)日：2020-02-04

申请号：US16196650

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Pranav Maheshwari ,  Tomi P. Maila ,  Benjamin Englard

IPC: G01S7/00 ,  G01S7/481 ,  G06T7/521 ,  G01S17/93 ,  G01S17/89 ,  G01S7/48 ,  G01S7/497 ,  H04N5/232 ,  G01S17/08

Abstract: A computer-implemented method of determining a relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle configured to sense an environment following a scan pattern. The method also includes obtaining, based on the sensor data, a point cloud frame. The point cloud frame comprises a plurality of points of depth data and a time at which the depth data was captured. Additionally, the method includes selecting two or more points of the scan pattern that overlap the object. The selected points are located on or near a two-dimensional surface corresponding to the object, and the depth data for two or more of the selected points are captured at different times. The method includes calculating the relative velocity between the vehicle and the object based on the depth data and capture times associated with the selected points.

公开(公告)号：US10473788B2

公开(公告)日：2019-11-12

申请号：US16176624

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

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

IPC: G01C3/08 ,  G01S17/89 ,  G01S7/40 ,  G01S7/41 ,  G01S13/42 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W10/04 ,  G06N3/08 ,  G01S13/93 ,  G01S17/93 ,  G06T3/40 ,  G06T17/05 ,  G06T17/20 ,  G01S7/48 ,  G01S7/481 ,  G01S17/02 ,  G06T7/50 ,  G06K9/42 ,  G06K9/62 ,  G01S17/66 ,  G06K9/00 ,  G06T15/08 ,  G01S7/497 ,  B60W50/06 ,  G06T7/20

Abstract: A method for controlling at least a first sensor of a vehicle, which senses an environment through which the vehicle is moving by producing a plurality of scan lines arranged according to a spatial distribution, includes receiving sensor data generated by one or more sensors. The one or more sensors are configured to sense the environment through which the vehicle is moving. The method also includes identifying, by one or more processors and based on the received sensor data, one or more areas of interest in the environment, and causing, by one or more processors and based on the areas of interest, the spatial distribution of the plurality of scan lines produced by the first sensor to be adjusted.

公开(公告)号：US20190179317A1

公开(公告)日：2019-06-13

申请号：US16176509

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

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

IPC: G05D1/00 ,  G01S7/40 ,  G01S13/93 ,  G01S17/89 ,  G01S17/93 ,  G01S7/497

Abstract: A non-transitory computer-readable medium stores instructions executable by one or more processors to implement a sensor control architecture for controlling at least a first sensor of a vehicle. The sensor control architecture is configured to receive 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. The sensor control architecture is also configured to determine, based on the received sensor data and using an attention model that is trained using a machine learning technique, one or more sensor settings, and to cause one or more sensor parameters of the first sensor to be adjusted in accordance with the determined sensor settings. The one or more sensor parameters include at least one sensor parameter that defines an area of focus for the first sensor.

公开(公告)号：US20190179024A1

公开(公告)日：2019-06-13

申请号：US16176582

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger

IPC: G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  G06T15/08 ,  G06K9/62 ,  G06K9/00

Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud portion corresponding to an object in a vehicle environment, the point cloud portion including scan lines arranged according to a particular spatial distribution. The method also includes constructing a voxel grid corresponding to the received point cloud portion. The voxel grid includes a plurality of volumes in a stacked, three-dimensional arrangement, and constructing the voxel grid includes (i) determining an initial classification of the object, (ii) setting one or more parameters of the voxel grid based on the initial classification, and (iii) associating each volume of the plurality of volumes with an attribute specifying how many points, from the point cloud portion, fall within that volume. The method also includes generating, using the constructed voxel grid, signals descriptive of a current state of the environment through which the vehicle is moving.

公开(公告)号：US20190113927A1

公开(公告)日：2019-04-18

申请号：US16149223

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Gauri Gandhi ,  Pranav Maheshwari

IPC: G05D1/02 ,  G06N3/08 ,  G06N5/02 ,  G05D1/00 ,  G01C21/34

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.