公开(公告)号：US20230288565A1

公开(公告)日：2023-09-14

申请号：US18003660

申请日：2021-06-02

申请人： KYOCERA Corporation

发明人： Hiroki OKADA

IPC分类号： G01S17/86 ,  G01S17/58

CPC分类号： G01S17/86 ,  G01S17/58

摘要： Provided are an electromagnetic-wave detection apparatus and a distance-measurement apparatus capable of accurately detecting the position of a subject. An electromagnetic-wave detection apparatus (10) includes a first detection unit (20) configured to detect a reflected wave that is an electromagnetic wave radiated in multiple directions in a space in which an object (ob) is present and reflected by the object (ob), an image-information acquisition unit (141) configured to acquire image information of the space, and a light-reception control unit (144) configured to perform control such that the time difference between the timing at which the image-information acquisition unit (141) acquires the image information and the timing at which the electromagnetic wave is radiated onto a predetermined tracking target included in the object is reduced.

公开(公告)号：US20230280465A1

公开(公告)日：2023-09-07

申请号：US18016048

申请日：2021-06-29

申请人： Bayerische Motoren Werke Aktiengesellschaft

发明人： Sebastian GRUENWEDEL ,  Pascal MINNERUP ,  Barbara ROESSLE ,  Maxi WINTER ,  Martin ZEMAN

IPC分类号： G01S17/89 ,  G06T7/73 ,  G01S17/86 ,  G01S7/48 ,  G01S13/89

CPC分类号： G01S17/89 ,  G06T7/73 ,  G01S17/86 ,  G01S7/4808 ,  G01S13/89 ,  G06T2207/30252

摘要： A method for determining the validity of an estimated position of a vehicle includes receiving the estimated position; receiving sensor information relating to a vehicle environment; detecting a number of first features in the digital map and a number of second features in the sensor information, wherein the features indicate at least one object beside a road; grouping the first features into a number of first feature groups and grouping the second features into a number of second feature groups; rejecting first and/or second feature groups; assigning at least some of the first feature groups which have not been rejected to a particular second feature group which has not been rejected; and determining the validity of the estimated position based on a comparison of positions of a number of the first feature groups which have not been rejected with positions of the respectively assigned second feature groups.

公开(公告)号：US11745082B2

公开(公告)日：2023-09-05

申请号：US16849366

申请日：2020-04-15

申请人： Garmin Switzerland GmbH

发明人： Robert A. Lewis ,  Dennis O. Corey

IPC分类号： A63B71/06 ,  A63B57/00 ,  A63B69/36 ,  G01S17/06 ,  G01S17/08 ,  G01S17/88 ,  G01S7/48 ,  G01S17/86 ,  A63B102/32

CPC分类号： A63B71/0622 ,  A63B57/00 ,  A63B69/36 ,  G01S7/4808 ,  G01S17/06 ,  G01S17/08 ,  G01S17/86 ,  G01S17/88 ,  A63B2071/0625 ,  A63B2071/0691 ,  A63B2102/32 ,  A63B2220/12 ,  A63B2220/13 ,  A63B2220/18 ,  A63B2220/40 ,  A63B2220/80 ,  A63B2220/806 ,  A63B2225/20

摘要： Techniques are provided for implementing a system for determining the range to a target object and orienting a map. In implementations, GPS data is used to determine the location of the system and an approximate distance from that location to the target. Based on the approximate distance, one or more parameters of operation of the system may be set. Modes of operation may be entered to further adjust parameters of operation. An optical pulse may then be projected at the target and its reflections collected and analyzed to calculate a distance measurement. A visual display may be adjusted based on the calculated distance estimate to the target.

公开(公告)号：US11740335B2

公开(公告)日：2023-08-29

申请号：US16851060

申请日：2020-04-16

申请人： Zoox, Inc.

发明人： Sreevatsan Bhaskaran ,  Mehran Ferdowsi ,  Ryan McMichael ,  Subasingha Shaminda Subasingha

IPC分类号： G01S7/487 ,  G01S17/931 ,  G01S7/48 ,  G06N20/00 ,  G05D1/00 ,  G05D1/02 ,  G01S17/86

CPC分类号： G01S7/4876 ,  G01S7/4802 ,  G01S17/86 ,  G01S17/931 ,  G05D1/0088 ,  G05D1/0231 ,  G05D1/0257 ,  G06N20/00

摘要： A machine-learned (ML) model for detecting that depth data (e.g., lidar data, radar data) comprises a false positive attributable to particulate matter, such as dust, steam, smoke, rain, etc. The ML model may be trained based at least in part on simulated depth data generated by a fluid dynamics model and/or by collecting depth data during operation of a device (e.g., an autonomous vehicle. In some examples, an autonomous vehicle may identify depth data that may be associated with particulate matter based at least in part on an outlier region in a thermal image. For example, the outlier region may be associated with steam.

公开(公告)号：US11726186B2

公开(公告)日：2023-08-15

申请号：US16588267

申请日：2019-09-30

申请人： Zoox, Inc.

发明人： Subasingha Shaminda Subasingha ,  Turhan Karadeniz ,  Denis Nikitin ,  Harrison Thomas Waschura

IPC分类号： G01S7/486 ,  G01S17/10 ,  G01S17/89 ,  G01S17/02 ,  H04N5/235 ,  G01S7/4865 ,  G01S17/86 ,  H04N23/73

CPC分类号： G01S7/4865 ,  G01S7/4868 ,  G01S17/10 ,  G01S17/86 ,  G01S17/89 ,  H04N23/73

摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can return pixels subject to over-exposure or saturation, which may be from stray light. In some examples, multiple exposures captured at different exposure times can be used to determine a saturation value for sensor data. The saturation value may be used to determine a threshold intensity against which intensity values of a primary exposure are compared. A filtered data set can be obtained based on the comparison.

公开(公告)号：US20230251379A1

公开(公告)日：2023-08-10

申请号：US17210121

申请日：2021-03-23

申请人： Raytheon Company

发明人： Joseph Marron ,  Joseph M. Fukumoto

IPC分类号： G01S17/86 ,  F41H13/00 ,  G01S7/486

CPC分类号： G01S17/86 ,  F41H13/0062 ,  G01S7/4868

摘要： A system includes a laser source configured to generate laser energy and a LADAR source configured to generate LADAR energy. The system also includes a beam director configured to direct the laser energy as a laser beam towards a target and to direct the LADAR energy as a LADAR beam towards the target. The system further includes a LADAR detector configured to sense a received portion of the LADAR energy reflected from the target. In addition, the system includes one or more first filters configured to attenuate at least a portion of the laser energy following an optical path towards the LADAR detector while allowing at least part of the received portion of the LADAR energy reflected from the target to pass to the LADAR detector.

公开(公告)号：US20230247399A1

公开(公告)日：2023-08-03

申请号：US18129629

申请日：2023-03-31

申请人： Toyota Motor Engineering & Manufacturing North America, Inc.

发明人： Hongsheng LU ,  Rui Guo

IPC分类号： H04W4/46 ,  H04N7/18 ,  G01S17/86 ,  G08C17/02 ,  G06V20/54 ,  G06V20/56

CPC分类号： H04W4/46 ,  H04N7/185 ,  G01S17/86 ,  G08C17/02 ,  G06V20/54 ,  G06V20/56

摘要： The disclosure includes embodiments for adaptive sensor data sharing by a connected vehicle. A method includes calculating, by a processor of an ego vehicle, a view angle overlap between a first sensor of the ego vehicle and a second sensor of a roadway device, wherein the view angle overlap is an amount of sensor view overlap shared by first sensor and the second sensor. The method includes determining an amount of ego sensor data to share with the roadway device based on the view angle overlap. The method includes building a sharing message that includes the amount of ego sensor data in a payload of the sharing message. The method includes transmitting, by a communication unit of the ego vehicle, the sharing message to the roadway device.

公开(公告)号：US11714423B2

公开(公告)日：2023-08-01

申请号：US16584392

申请日：2019-09-26

申请人： Zoox, Inc.

发明人： Bertrand Robert Douillard ,  Subhasis Das ,  Zeng Wang ,  Dragomir Dimitrov Anguelov ,  Jesse Sol Levinson

IPC分类号： G05D1/02 ,  G01S17/58 ,  G06T7/187 ,  G01S17/66 ,  G01S17/02 ,  G06T7/11 ,  G01S17/89 ,  G01S17/93 ,  G06K9/00 ,  G01S17/86 ,  G01S17/931 ,  G06V20/56 ,  G01S13/86 ,  G01S15/931 ,  G01S13/931 ,  G01S13/72 ,  G01S15/86

CPC分类号： G05D1/024 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/931 ,  G05D1/0212 ,  G06T7/11 ,  G06T7/187 ,  G06V20/56 ,  G01S13/726 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S15/86 ,  G01S15/931 ,  G06T2207/10028 ,  G06T2207/30252

摘要： Systems, methods, and apparatuses described herein are directed to performing segmentation on voxels representing three-dimensional data to identify static and dynamic objects. LIDAR data may be captured by a perception system for an autonomous vehicle and represented in a voxel space. Operations may include determining a drivable surface by parsing individual voxels to determine an orientation of a surface normal of a planar approximation of the voxelized data relative to a reference direction. Clustering techniques can be used to grow a ground plane including a plurality of locally flat voxels. Ground plane data can be set aside from the voxel space, and the remaining voxels can be clustered to determine objects. Voxel data can be analyzed over time to determine dynamic objects. Segmentation information associated with ground voxels, static object, and dynamic objects can be provided to a tracker and/or planner in conjunction with operating the autonomous vehicle.

公开(公告)号：US11713006B2

公开(公告)日：2023-08-01

申请号：US17515932

申请日：2021-11-01

申请人： UATC, LLC

发明人： David McAllister Bradley ,  Galen Clark Haynes

IPC分类号： B60R16/023 ,  G01S13/72 ,  G01S13/931 ,  G01S17/66 ,  G01S17/86 ,  G01S17/931 ,  B60N2/00 ,  G01S17/933 ,  G06V20/58 ,  G06N20/00 ,  G05D1/00 ,  G05D1/02 ,  G06N5/04 ,  G01S13/86

CPC分类号： B60R16/023 ,  B60N2/00 ,  G01S13/723 ,  G01S13/931 ,  G01S17/66 ,  G01S17/86 ,  G01S17/931 ,  G01S17/933 ,  G05D1/0088 ,  G05D1/0212 ,  G05D1/0238 ,  G06N5/04 ,  G06N20/00 ,  G06V20/58 ,  G01S13/865 ,  G01S13/867 ,  G01S2013/9318 ,  G01S2013/9319 ,  G01S2013/9323 ,  G01S2013/93185 ,  G01S2013/93273 ,  G05D1/0257 ,  G05D2201/0213

摘要： Generally, the present disclosure is directed to systems and methods for streaming processing within one or more systems of an autonomy computing system. When an update for a particular object or region of interest is received by a given system, the system can control transmission of data associated with the update as well as a determination of other aspects by the given system. For example, the system can determine based on a received update for a particular aspect and a priority classification and/or interaction classification determined for that aspect whether data associated with the update should be transmitted to a subsequent system before waiting for other updates to arrive.

公开(公告)号：US20230237783A1

公开(公告)日：2023-07-27

申请号：US17584449

申请日：2022-01-26

申请人： Ford Global Technologies, LLC

发明人： Gaurab Banerjee ,  Vijay Nagasamy

IPC分类号： G06V10/80 ,  G01S17/86 ,  G01S15/86 ,  G01S13/86 ,  G01S17/89 ,  G01S15/89 ,  G01S13/89 ,  G06V10/82 ,  G06V20/58

CPC分类号： G06V10/803 ,  G01S17/86 ,  G01S15/86 ,  G01S13/865 ,  G01S13/867 ,  G01S13/862 ,  G01S17/89 ,  G01S15/89 ,  G01S13/89 ,  G06V10/82 ,  G06V20/58 ,  G01S17/931

摘要： A plurality of images can be acquired from a plurality of sensors and a plurality of flattened patches can be extracted from the plurality of images. An image location in the plurality of images and a sensor type token identifying a type of sensor used to acquire an image in the plurality of images from which the respective flattened patch was acquired can be added to each of the plurality of flattened patches. The flattened patches can be concatenated into a flat tensor and add a task token indicating a processing task to the flat tensor, wherein the flat tensor is a one-dimensional array that includes two or more types of data. The flat tensor can be input to a first deep neural network that includes a plurality of encoder layers and a plurality of decoder layers and outputs transformer output. The transformer output can be input to a second deep neural network that determines an object prediction indicated by the token and the object predictions can be output.