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公开(公告)号：US20230132029A1
公开(公告)日：2023-04-27
申请号：US17508457
申请日：2021-10-22
申请人： Argo AI, LLC
发明人： Shenglong Gao , Ruben Zhao , Marcial Hernandez , Thomas Petroff , Edward Venator
摘要： Disclosed herein are system, method, and computer program product embodiments for switching between local and remote guidance instructions for autonomous vehicles. For example, the method includes, in response to monitoring one or more actions of objects detected in a scene in which the autonomous robotic system is moving, causing the autonomous robotic system to slow or cease movement in the scene. The method includes detecting a trigger condition based on movement of the autonomous robotic system in the scene. In response to the one or more monitored actions and detecting the trigger condition, the method includes transmitting a remote guidance request to a remote server. After transmitting the remote guidance request, the method includes receiving remote guidance instructions from the remote server and causing the autonomous robotic system to begin operating according to the remote guidance instructions.
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公开(公告)号：US20230126833A1
公开(公告)日：2023-04-27
申请号：US17507182
申请日：2021-10-21
申请人： Argo AI, LLC
发明人： Khalid YOUSIF
摘要： A system, method, and computer program for updating calibration lookup tables within an autonomous vehicle or transmitting roadway marking changes between online and offline mapping files is disclosed. A LIDAR sensor may be used for generating an online (rasterized) mapping file with online intensity values which are compared against a correlated offline (rasterized) mapping file having offline intensity values. The online intensity value may be used to acquire a lookup table having a normal distribution that is compared against the offline intensity value. The lookup table may be updated when the offline intensity value is within the normal distribution. Or the vehicle may transmit a roadway marking change when the offline intensity value is outside the normal distribution.
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公开(公告)号：US20230118105A1
公开(公告)日：2023-04-20
申请号：US18069790
申请日：2022-12-21
申请人： Argo AI, LLC
发明人： Neetu Agarwal , Ravi Basavaraj , Richard L. Kwant
摘要： Systems and methods are provided for operating a vehicle, is provided. The method includes, by a vehicle control system of the vehicle, identifying map data for a present location of the vehicle using a location of the vehicle and pose and trajectory data for the vehicle, identifying a field of view of a camera of the vehicle, and analyzing the map data to identify an object that is expected to be in the field of view of the camera. The method further includes, based on (a) a class of the object, (b) characteristics of a region of interest in the field of view of the vehicle, or (c) both, selecting an automatic exposure (AE) setting for the camera. The method additionally includes causing the camera to use the AE setting when capturing images of the object, and using the camera, capturing the images of the object.
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公开(公告)号：US20230115758A1
公开(公告)日：2023-04-13
申请号：US17498358
申请日：2021-10-11
申请人： Argo AI, LLC
IPC分类号： B60W30/14 , B60W60/00 , B60W40/105 , B60W50/00 , G06N20/00
摘要： Systems and methods for generating a trajectory of a vehicle are disclosed. The methods include generating a spatial domain speed profile for a path represented as a sequence of poses of a vehicle between a first point and a second point. Generation of the spatial domain speed profile uses a longitudinal problem while excluding a derate interval on the path when speed of the vehicle cannot exceed a threshold. The methods further include generating a derate profile using the spatial domain speed profile and the derate interval, and transforming the derate interval to a temporal derate interval. The temporal derate interval may include time steps at which the speed of the vehicle cannot exceed the threshold while traversing the path, and may be used as an input to the longitudinal problem for generating a trajectory of the vehicle for navigating between the first point and the second point.
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公开(公告)号：US20230110828A1
公开(公告)日：2023-04-13
申请号：US17991053
申请日：2022-11-21
申请人： Argo AI, LLC
发明人： Mark D. ENTWISTLE , Bayard G. GARDINEER, IV , Gary BURKHOLDER , Christopher John TROWBRIDGE , Ryan Thomas DAVIS , William MORDARSKI , BILGE KOCER
IPC分类号： G01S7/481 , G01B7/31 , G01D5/14 , G01P3/487 , G01S17/931 , H02K11/215
摘要： Systems and methods are provided herein for improved short range object detection in LiDAR systems. The associated systems may include a first portion and a second portion configured to rotate relative to one another. The system may also include a first magnet located on the second portion and arranged with a north pole of the first magnet facing a first direction. The system may also include a second magnet located on the second portion and arranged with a south pole of the second magnet facing the first direction. The system may also include a first sensor located on the first portion, wherein the first sensor is further configured to measure a first magnetic field of the first magnet and a second magnetic field of the second magnet as the first portion and second portion rotate relative to one another.
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公开(公告)号：US11620836B2
公开(公告)日：2023-04-04
申请号：US17111848
申请日：2020-12-04
申请人： Argo AI, LLC
发明人： Siddharth Madan , Richard L. Kwant
摘要： Systems and methods are provided for detecting a flashing light on one or more traffic signal devices. The method includes capturing a series of images of one or more traffic signal elements in a traffic signal device over a length of time. The method further includes, for each traffic signal element, analyzing the series of images to determine one or more time periods at which the traffic signal element is in an on state or an off state, and analyzing the time periods to determine one or more distinct on states and one or more distinct off states. The method further includes identifying one or more cycles correlating to a distinct on state immediately followed by a distinct off state, or a distinct off state immediately followed by a distinct on state, and, upon identifying a threshold number adjacent cycles, classifying the traffic signal element as a flashing light.
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公开(公告)号：US20230098223A1
公开(公告)日：2023-03-30
申请号：US17486681
申请日：2021-09-27
申请人： ARGO AI, LLC
发明人： Basel Alghanem , Benjamin David Ballard , Russell Schloss , Christian Höeppner , Mark Ollis , George Peter Kenneth Carr
IPC分类号： B60W30/09 , G01S17/931 , G01S17/89 , G01S17/58 , B60W60/00
摘要： Systems and methods are described for measuring velocity of an object detected by a light detection and ranging (lidar) system. According to some aspects a method may include receiving a lidar dataset generated by the lidar system, transforming the lidar dataset into a first layer dataset and a second layer dataset, and converting the first layer dataset into a first image and the second layer dataset into a second image. The method may also include performing a feature detection operation that identifies at least one feature in the first image and the same feature in the second image, locating a first location of the feature in the first image and a second location of the feature in the second image, and generating a velocity estimate of the feature based on a difference between the first location and the second location and a difference between the different time intervals.
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公开(公告)号：US20230084313A1
公开(公告)日：2023-03-16
申请号：US17472180
申请日：2021-09-10
申请人： Argo AI, LLC
IPC分类号： B60W30/09 , B60W30/095 , B60W40/04 , B60W40/105 , B60W60/00
摘要： A method includes identifying an object that is invading a lane that an autonomous vehicle is occupying, and generating a constraint about a point of crossing, where the constraint has a direction and a length, and the point of crossing represents a location of where the object and the autonomous vehicle will collide if the object maintains its current trajectory and the autonomous vehicle maintains its current trajectory. The method includes applying the constraint to a motion plan associated with the autonomous vehicle, and issuing one or more commands to adjust movement of the autonomous vehicle in response to encountering the constraint.
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公开(公告)号：US20230070734A1
公开(公告)日：2023-03-09
申请号：US17468600
申请日：2021-09-07
申请人： Argo AI, LLC
摘要： A method includes receiving a base simulation scenario that includes features of a scene through which a vehicle may travel and receiving a simulation variation for an object in the scene. The simulation variation defines multiple values for a characteristic of the object.
The method includes adding the simulation variation to the base simulation scenario to yield an augmented simulation scenario and applying the augmented simulation scenario to an autonomous vehicle motion planning model to train the motion planning model. The motion planning model iteratively simulates variations of the object based on values for the characteristic of the object. In response to each simulated variation of the object, the motion planning model selects a continued trajectory for the vehicle, wherein the continued trajectory is either the planned trajectory or an alternate trajectory.-
公开(公告)号：US20230068848A1
公开(公告)日：2023-03-02
申请号：US17411403
申请日：2021-08-25
申请人： Argo AI, LLC
发明人： Hatem Alismail
摘要： A system such as an autonomous vehicle’s perception system will identify and classify an obstruction in a field of view of an image capturing device. The system will receive a sequence of image frames from the image capturing device. For each of the image frames, the system will segment the image frame into a regions of interest (ROIs), and the system will use a classifier to assign a classification to each ROI. The classification indicates whether the ROI is clear or obstructed. The system will aggregate the classifications for each ROI to determine an aggregate classification. When an obstructed classification persists for a threshold number of image frames, the system will classify the image capturing device as obstructed, and it will generate a function request that, when executed, will cause a system of which the image capturing device is a component to perform a function.
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