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公开(公告)号：US11016485B2
公开(公告)日：2021-05-25
申请号：US16367758
申请日：2019-03-28
摘要： Exception handing, such as of obstruction situations, by an autonomous vehicle (AV) is disclosed. A method includes identifying an exception situation; identifying a risk associated with autonomously resolving the exception situation; and in response to the risk exceeding a risk threshold, initiating a request for assistance from a tele-operator, and halting for the tele-operator to respond to the request; and receiving a response from the tele-operator.
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公开(公告)号：US10901417B2
公开(公告)日：2021-01-26
申请号：US16119260
申请日：2018-08-31
发明人： Kuniaki Noda , Kyle Hollins Wray , Stefan Witwicki
摘要： Autonomous vehicle operational management with visual saliency perception control may include operating a perception unit and an autonomous vehicle operational management controller. Operating the perception unit may include generating external object information based on image data received from image capture units of the vehicle and saliency information received from the autonomous vehicle operational management controller. Operating the autonomous vehicle operational management controller may include identifying a distinct vehicle operational scenario based on the external object information, instantiating a scenario-specific operational control evaluation module instance, receiving a candidate vehicle control action from a policy for the scenario-specific operational control evaluation module instance, and controlling the autonomous vehicle to traverse a portion of the vehicle transportation network in accordance with the candidate vehicle control action, wherein the portion of the vehicle transportation network includes the distinct vehicle operational scenario.
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公开(公告)号：US20220371612A1
公开(公告)日：2022-11-24
申请号：US17243919
申请日：2021-04-29
摘要： Vehicle guidance with systemic optimization may include traversing, by a current vehicle, a vehicle transportation network, by obtaining, by the current vehicle, systemic-utility vehicle guidance data for a current portion of the vehicle transportation network and traversing, by the current vehicle, the current portion of the vehicle transportation network in accordance with the systemic-utility vehicle guidance data. Obtaining the systemic-utility vehicle guidance data may include obtaining vehicle operational data for a region of a vehicle transportation network, wherein the vehicle operational data includes current operational data for a plurality of vehicles operating in the region, operating a systemic-utility vehicle guidance model for the region, obtaining systemic-utility vehicle guidance data for the region from the systemic-utility vehicle guidance model in response to the vehicle operational data, and outputting the systemic-utility vehicle guidance data to the current vehicle.
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公开(公告)号：US20210240191A1
公开(公告)日：2021-08-05
申请号：US16779393
申请日：2020-01-31
发明人： Laura Cesafsky , Astha Vagadia , Hillary Abraham , Sparsh Sharma , Stefan Witwicki , Najamuddin Mirza Baig , Omar Bentahar
摘要： An apparatus for traversing a vehicle transportation network by an autonomous vehicle (AV) includes a human-autonomy teaming manager. The manager includes a first processor configured to initiate a dialogue associated with a predefined dynamic task sequence that is responsive to a condition experienced by the AV while traversing from a starting location to an ending location within the vehicle transportation network. The sequence is one of a plurality of predefined dynamic task sequences that uses multiple agents to resolve the condition. The manager receives, from an interface accessible to a human agent, an input responsive to the dialogue. The input confirms the sequence as a selected predefined dynamic task sequence or selects an other of the plurality of predefined dynamic task sequences as the selected predefined dynamic task sequence. The manager delegates tasks of the selected predefined dynamic task sequence to resolve the condition.
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公开(公告)号：US20190369626A1
公开(公告)日：2019-12-05
申请号：US16050731
申请日：2018-07-31
发明人： Richard Lui , Stefan Witwicki
摘要： Autonomous driving simulation using recorded driving data is disclosed. A method of simulating autonomous driving includes receiving recorded driving data from a recorded autonomous vehicle (AV), the recorded driving data includes decision-making data generated using a first decision-making algorithm, sensing data, and movement data including positions of the recorded AV; obtaining simulation data from the recorded driving data by excluding the decision-making data from the recorded driving data; and simulating, by a simulation AV, a second decision-making algorithm using the simulation data. The simulating the second decision-making algorithm includes determining a first position of the simulation AV at a first time and adjusting a playback speed of the simulation data based on a difference between the first position and a second position of the positions of the recorded AV at the first time.
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公开(公告)号：US12116003B2
公开(公告)日：2024-10-15
申请号：US17855669
申请日：2022-06-30
发明人： Erik St. Gray , Stefan Witwicki
IPC分类号： B60W50/14 , B60K35/00 , B60W40/08 , G06V20/59 , G06V40/20 , H04W4/44 , B60K35/28 , B60K35/29 , B60K35/85
CPC分类号： B60W50/14 , B60K35/00 , B60W40/08 , G06V20/597 , G06V40/20 , H04W4/44 , B60K35/28 , B60K35/29 , B60K35/85 , B60K2360/166 , B60K2360/178 , B60K2360/1868 , B60K2360/589 , B60W2050/146 , B60W2420/403 , B60W2420/54 , B60W2556/50
摘要： A vehicle includes an on-board satellite navigation device, a telematics control unit, a non-transitory computer readable medium, an electronic display device, and a processor. The on-board satellite navigation device is in communication with a global positioning system unit to acquire real-time information regarding conditions near the vehicle's vicinity. The telematics control unit is in wireless communications to at least one of a cloud services and a vehicle network to upload and receive crowdsourced information regarding conditions near the vehicle's vicinity. The non-transitory computer readable medium stores predetermined information regarding conditions near the vehicle vicinity. The processor is programmed to control the electronic display device to display notification data regarding the vehicle vicinity based on one or more of the real-time information, the crowdsourced information and the predetermined information.
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公开(公告)号：US20240211046A1
公开(公告)日：2024-06-27
申请号：US18145680
申请日：2022-12-22
发明人： Mark Bailey , Erik St. Gray , Kevin Kochever , Stefan Witwicki
IPC分类号： G06F3/01 , B62D6/00 , G06N3/0475 , G06N3/094 , G06T17/05
CPC分类号： G06F3/016 , B62D6/008 , G06N3/0475 , G06N3/094 , G06T17/05
摘要： Road feel is created in a vehicle that has a steer-by-wire system using image data obtained from one or more cameras on the vehicle and image data obtained from a light detection and ranging (LIDAR) sensor. A generative adversarial network (GAN) machine learning (ML) model is used to determine a road surface based on the image data from the one or more cameras and the image data from the LIDAR sensor. Haptic vibrations are generated based on the determined road surface to create the road feel using one or more motors on various vehicle components.
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公开(公告)号：US20240177545A1
公开(公告)日：2024-05-30
申请号：US18060369
申请日：2022-11-30
发明人： Mark Bailey , Erik St. Gray , Kevin Kochever , Stefan Witwicki
CPC分类号： G07C5/0825 , G07C5/0808 , H04R1/08 , H04R1/406 , H04R3/005 , H04R2201/401 , H04R2499/13
摘要： A system may detect a sound associated with a vehicle. The sound may be detected using a set of one or more microphones. The system may use a machine learning model to detect at least one of a squeak or a rattle based on the sound. The machine learning model may be trained using a plurality of sounds emitted in relation to one or more vehicles. The system may determine, based on detecting at least one of the squeak or the rattle, a location of the vehicle associated with at least one of the squeak or the rattle. In some implementations, the location may be determined based on detecting different sound levels between a first microphone and a second microphone, or detecting a time difference between the first and the second microphone, or by correlating the sound to a sound signature associated with a part of the vehicle.
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公开(公告)号：US20210294323A1
公开(公告)日：2021-09-23
申请号：US16821218
申请日：2020-03-17
摘要： An apparatus for post-processing of a decision-making model of an autonomous vehicle receives a decision-making model including a plurality of states. The model is processed using multivariate data that comprises values for at least three observations of a vehicle operational scenario. A slice of the model decision space is generated by fixing values of all except two observations, and modifying the values of the two observations to obtain multiple alternative solutions for the model. The alternative solutions and the modified values form the slice. Each alternative solution is associated with a respective first value of a first observation and a respective second value of a second observation. The apparatus also generates a solution to a modified decision-making model that is the model modified by, for at least one state and at least one of the two observations, modifying a probabilistic transition matrix, a probabilistic observation matrix, or both.
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公开(公告)号：US20210271249A1
公开(公告)日：2021-09-02
申请号：US16804554
申请日：2020-02-28
摘要： A first method includes identifying an occlusion in the vehicle transportation network; identifying, for a first world object that is on a first side of the occlusion, a visibility grid on a second side of the occlusion; and altering a driving behavior of the first vehicle based on the visibility grid. The visibility grid is used in determining whether other world objects exist on the second side of the occlusion. A second includes identifying a first trajectory of a first world object in the vehicle transportation network; identifying a visibility grid of the first world object; identifying, using the visibility grid, a second world object that is invisible to the first world object; and, in response to determining that the first world object is predicted to collide with the second world object, alerting at least one of the first world object or the second world object.
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