公开(公告)号：US20200256961A1

公开(公告)日：2020-08-13

申请号：US16271119

申请日：2019-02-08

Applicant: Luminar Technologies, Inc.

Inventor： Stephen D. Gaalema ,  Robert D. Still

IPC: G01S7/486 ,  G01S17/10 ,  G01S17/89 ,  G01N21/55

Abstract: Amplifier input protection circuits are described. In one embodiment, a photoreceiver for a lidar system has a photodetector configured to generate an output current in response to received light. A transimpedance amplifier is configured to receive the output current and generate a voltage output corresponding to the output current in response thereto, and a diode circuit has a cathode coupled at a node between the photodetector output and the transimpedance amplifier input.

公开(公告)号：US10606270B2

公开(公告)日：2020-03-31

申请号：US16149223

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Gauri Gandhi ,  Pranav Maheshwari

IPC: G05D1/00 ,  G05D1/02 ,  G06F16/28 ,  B60W40/02 ,  G01C21/34 ,  G06N3/08 ,  G06N5/02 ,  G01C21/36

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.

公开(公告)号：US20200097010A1

公开(公告)日：2020-03-26

申请号：US16138513

申请日：2018-09-21

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Tomi P. Maila ,  Vahid R. Ramezani ,  Benjamin Englard

IPC: G05D1/02 ,  G05D1/00 ,  B60W50/029

Abstract: Various software techniques for managing operation of autonomous vehicles based on sensor data are disclosed herein. A computing system may generate, based on a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating, a normal path plan separate from a safe path plan, or a hybrid path plan including a normal path plan and a safe path plan. In generating the safe path plan, the computing system may generate and concatenate a set of motion primitives. When a fault condition occurs, the computing device may transition from executing the normal path plan to executing the safe path plan to safely stop the autonomous vehicle.

公开(公告)号：US20200074266A1

公开(公告)日：2020-03-05

申请号：US16559945

申请日：2019-09-04

Applicant: Luminar Technologies, Inc.

Inventor： Miguel Alexander Peake ,  Benjamin Englard

IPC: G06N3/00 ,  G06N20/00 ,  G06N5/04 ,  G06F13/28 ,  G06K9/62 ,  G06T7/246 ,  G06K9/00 ,  G06T7/50 ,  G05D1/00 ,  G05D1/02 ,  G01S7/48 ,  G01C21/28

Abstract: Automated training dataset generators that generate feature training datasets for use in real-world autonomous driving applications based on virtual environments are disclosed herein. The feature training datasets may be associated with training a machine learning model to control real-world autonomous vehicles. In some embodiments, an occupancy grid generator is used to generate an occupancy grid indicative of an environment of an autonomous vehicle from an imaging scene that depicts the environment. The occupancy grid is used to control the vehicle as the vehicle moves through the environment. In further embodiments, a sensor parameter optimizer may determine parameter settings for use by real-world sensors in autonomous driving applications. The sensor parameter optimizer may determine, based on operation of the autonomous vehicle, an optimal parameter setting of the parameter setting where the optimal parameter setting may be applied to a real-world sensor associated with real-world autonomous driving applications.

公开(公告)号：US20200074233A1

公开(公告)日：2020-03-05

申请号：US16560018

申请日：2019-09-04

Applicant: Luminar Technologies, Inc.

Inventor： Benjamin Englard ,  Miguel Alexander Peake

IPC: G06K9/62 ,  G06N3/00 ,  G06T11/60 ,  G08G1/0962

Abstract: Automated training dataset generators that generate feature training datasets for use in real-world autonomous driving applications based on virtual environments are disclosed herein. The feature training datasets may be associated with training a machine learning model to control real-world autonomous vehicles. In some embodiments, an occupancy grid generator is used to generate an occupancy grid indicative of an environment of an autonomous vehicle from an imaging scene that depicts the environment. The occupancy grid is used to control the vehicle as the vehicle moves through the environment. In further embodiments, a sensor parameter optimizer may determine parameter settings for use by real-world sensors in autonomous driving applications. The sensor parameter optimizer may determine, based on operation of the autonomous vehicle, an optimal parameter setting of the parameter setting where the optimal parameter setting may be applied to a real-world sensor associated with real-world autonomous driving applications.

公开(公告)号：US10557939B2

公开(公告)日：2020-02-11

申请号：US15296881

申请日：2016-10-18

Applicant: Luminar Technologies, Inc.

Inventor： Scott R. Campbell ,  Jason M. Eichenholz ,  Matthew D. Weed

IPC: G01S17/10 ,  G01S17/88 ,  G01S7/487 ,  G01S7/481 ,  G01S17/08 ,  G01S7/497

Abstract: A lidar system with improved signal-to-noise ratio in the presence of solar background noise. The lidar system can comprise a light source to emit light toward a target. The light source can have an operating wavelength which lies within a band that delineates a relative maximum in atmospheric absorption. The lidar system can also include a detector to detect scattered light from the target and a processor to determine a characteristic of the target based on a characteristic of the scattered light received at the detector.

公开(公告)号：US20200043176A1

公开(公告)日：2020-02-06

申请号：US16196630

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

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

IPC: G06T7/246 ,  G06T7/521 ,  G06K9/00 ,  G06T7/00 ,  G06T7/73 ,  G01S17/58 ,  G06T5/00

Abstract: A computer-implemented method of determining 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 by following a scan pattern comprising component scan lines. The method includes obtaining, based on the sensor data, a point cloud frame. Additionally, the method includes identifying a first pixel and a second pixel that are co-located within a field of regard and overlap a point cloud object within the point cloud frame and calculating a difference between a depth associated with the first pixel and a depth associated with the second pixel. The method includes determining a relative velocity of the point cloud object by dividing the difference in depth data by a time difference between when the depth associated with the first pixel was sensed and the depth associated with the second pixel was sensed.

公开(公告)号：US20200025923A1

公开(公告)日：2020-01-23

申请号：US16040263

申请日：2018-07-19

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Jason M. Eichenholz

IPC: G01S17/10 ,  G02B26/10 ,  G01S17/93 ,  G01S17/89

Abstract: A method in a lidar system for scanning a field of regard of the lidar system is provided. The method includes identifying, within the field of regard, a ground portion that overlaps a region of ground located ahead of the lidar system; causing a light source to emit pulses of light; scanning at least a portion of the emitted pulses of light along a scan pattern contained within the field of regard, including adjusting a scan parameter so that at least one of a resolution or a pulse energy for the ground portion of the field of regard is modified relative to another portion of the field of regard; and detecting at least a portion of the scanned pulses of light scattered by one or more remote targets.

公开(公告)号：US20200018854A1

公开(公告)日：2020-01-16

申请号：US16031815

申请日：2018-07-10

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Richmond Hicks ,  Matthew D. Weed ,  Jason M. Eichenholz

IPC: G01S17/10 ,  H04N5/232 ,  G01S17/89 ,  G01S7/481 ,  G02B26/10

Abstract: A machine vision system comprises a camera configured to generate one or more images of a field of regard of the camera, a lidar system, and a processor. The lidar system includes a laser configured to emit light, where the emitted light is directed toward a region within the field of regard of the camera and a receiver configured to detect light returned from the emitted light. The processor is configured to receive an indication of a location based on the returned light and determine whether a solid object is present at the location based on the one or more images.

公开(公告)号：US10495739B1

公开(公告)日：2019-12-03

申请号：US16196618

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Eric C. Danziger ,  Austin K. Russell

IPC: G01S17/00 ,  G01S7/497 ,  G01S17/42 ,  G01S17/93 ,  G05D1/02 ,  G01S17/89 ,  G01S17/02 ,  G01S17/87 ,  G01S7/481 ,  G06N20/00 ,  G01S17/06 ,  G01S17/58

Abstract: A computer-implemented method of determining relative velocity between a vehicle and an object. The method includes receiving 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 by following a scan pattern comprising component scan lines. The method also includes obtaining, based on the sensor data and by one or more processors, two or more point cloud frames representative of the environment and tracking, by the one or more processors, a point cloud object across the two or more point cloud frames. Additionally, the method includes determining, based on the tracking and by the one or more processors, a relative velocity of the point cloud object and correcting, by the one or more processors, the point cloud object based on the relative velocity of the point cloud object.