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公开(公告)号：US12110042B1
公开(公告)日：2024-10-08
申请号：US17501480
申请日：2021-10-14
CPC分类号： B60W60/00274 , B60W40/04 , B60W50/0097 , B60W50/06 , B60W60/0011 , G06N3/044 , G06N3/045 , B60W2554/4041 , B60W2554/4044
摘要： 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.
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公开(公告)号：US20240310835A1
公开(公告)日：2024-09-19
申请号：US18674442
申请日：2024-05-24
CPC分类号： G05D1/0212 , B60W60/0011
摘要： 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.
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公开(公告)号：US12092754B2
公开(公告)日：2024-09-17
申请号：US17229338
申请日：2021-04-13
发明人： Bo Li , James Curry , Shaogang Wang
IPC分类号： G01S7/02 , G01S7/48 , G01S13/86 , G01S13/931
CPC分类号： G01S7/021 , G01S7/4804 , G01S13/865 , G01S13/931
摘要： 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.
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44.发明授权公开(公告)号：US12091043B2
公开(公告)日：2024-09-17
申请号：US18109113
申请日：2023-02-13
发明人： Jake Charland , Ethan Eade , Karthik Lakshmanan , Daniel Munoz , Samuel Sean , Yuchen Xie , Luona Yang
CPC分类号： B60W60/001 , G06T15/08 , B60W2420/403 , B60W2420/408 , B60W2510/0638
摘要： 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.
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公开(公告)号：US20240300525A1
公开(公告)日：2024-09-12
申请号：US18269209
申请日：2021-12-17
CPC分类号： B60W60/001 , G06N20/00 , B60W2554/4026 , B60W2554/4029 , B60W2556/10
摘要： 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.
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公开(公告)号：US12085674B2
公开(公告)日：2024-09-10
申请号：US17824820
申请日：2022-05-25
发明人： Lei Wang , Sen Lin , Andrew Steil Michaels
IPC分类号： G01C3/08 , G01S7/481 , H01S5/02253
CPC分类号： G01S7/4814 , H01S5/02253
摘要： 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.
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公开(公告)号：US12071144B2
公开(公告)日：2024-08-27
申请号：US17139481
申请日：2020-12-31
CPC分类号： 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
摘要： 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.
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公开(公告)号：US12044535B2
公开(公告)日：2024-07-23
申请号：US18309256
申请日：2023-04-28
发明人： Rachel Ahn , David Prasser , Peter Hansen , Robert Zlot
摘要： Various examples are directed to systems and methods for locating a vehicle. A pose state estimator may access a previous position for the vehicle at a first time, wherein the previous position is on a first sub-map of a plurality of sub-maps. The pose state estimator may receive from a first localizer a first position estimate for the vehicle at a second time after the first time. The first position estimate may be on a second sub-map of the plurality of sub-maps. The pose state estimator may send to a second localizer a sub-map change message indicating the second sub-map.
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公开(公告)号：US20240219574A1
公开(公告)日：2024-07-04
申请号：US18404620
申请日：2024-01-04
发明人： Sen Lin , Andrew Steil Michaels
IPC分类号： G01S17/931 , G01S7/484 , G01S7/4863
CPC分类号： G01S17/931 , G01S7/484 , G01S7/4863
摘要： A light detection and ranging (LIDAR) sensor system includes a plurality of LIDAR pixels and a local oscillator module. The local oscillator module is coupled to the plurality of LIDAR pixels. The local oscillator module includes a first local oscillator input configured to receive a first local oscillator signal and a second local oscillator input configured to receive a second local oscillator signal. The local oscillator module is configured to provide the first local oscillator signal or the second local oscillator signal to a first LIDAR pixel of the plurality of LIDAR pixels.
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公开(公告)号：US20240219566A1
公开(公告)日：2024-07-04
申请号：US18149008
申请日：2022-12-30
发明人： Ashish Bhardwaj , Amir Hosseini
CPC分类号： G01S17/58 , H01S5/02461 , H01S5/343 , H01S5/0656
摘要： A LIDAR system comprising a laser configured to output a beam, a modulator configured to receive the beam and modulate the beam to generate a modulated beam, a photonic integrated circuit having an amplifier coupled to receive the modulated beam from the modulator and generate an amplified beam, the amplifier having an active layer and an alternating or periodic or a super lattice structure configured to dissipate heat; and a transceiver chip coupled to the photonic integrated circuit, the transceiver chip configured to emit the amplified beam and receive a reflected beam from a target.
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