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公开(公告)号：US20230102929A1
公开(公告)日：2023-03-30
申请号：US17484550
申请日：2021-09-24
申请人： EMBARK TRUCKS, INC.
发明人： Marcus Sjolin , David Watson
摘要： A system and method including receiving a plurality of messages generated by a vehicle, each of the messages being associated with an indicated topic; initializing one or more state machines, each state machine preconfigured with a one or more specified state parameters to define a specific scenario, the initializing commencing an execution of the one or more state machines; querying the plurality of messages by the one or more state machines, each state machine querying for messages having an indicated topic associated with the querying state machine; updating, at one or more of a sequence of time intervals of a time period, the one or more state machines based on state transitions determined for each state machine; updating, based on each of the one or more state machines, a scenario record for each of the one or more state machines; and storing the updated scenario record in a data store.
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公开(公告)号：US20230016578A1
公开(公告)日：2023-01-19
申请号：US17379126
申请日：2021-07-19
申请人： EMBARK TRUCKS, INC.
发明人： Grady WILLIAMS
摘要： Provided are systems and methods for controlling a vehicle based on a map that designed using a factor graph. Because the map is designed using a factor graph, positions of the road can be modified in real-time while operating the vehicle. In one example, the method may include storing a map which is associated with a factor graph of variable nodes representing a plurality of constraints that define positions of lane lines in a road and factor nodes between the variable nodes on the factor graph which define positioning constraints amongst the variable nodes, receiving an indication from the road using a sensor of a vehicle, updating positions of the variable nodes based on the indication and an estimated location of the vehicle within the map, and issue commands capable of controlling a steering operation of the vehicle based on the updated positions of the factor nodes.
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公开(公告)号：US11553043B1
公开(公告)日：2023-01-10
申请号：US17842150
申请日：2022-06-16
申请人： EMBARK TRUCKS INC.
摘要： Provided are systems, methods and computer program code for transmitting vehicle data to remote monitoring systems using a low bandwidth protocol.
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公开(公告)号：US20230016335A1
公开(公告)日：2023-01-19
申请号：US17752191
申请日：2022-05-24
申请人： EMBARK TRUCKS INC.
发明人： Grady WILLIAMS
摘要： Provided are systems and methods for controlling a vehicle based on a map that designed using a factor graph. Because the map is designed using a factor graph, positions of the road can be modified in real-time while operating the vehicle. In one example, the method may include storing a map which is associated with a factor graph of variable nodes representing a plurality of constraints that define positions of lane lines in a road and factor nodes between the variable nodes on the factor graph which define positioning constraints amongst the variable nodes, receiving an indication from the road using a sensor of a vehicle, updating positions of the variable nodes based on the indication and an estimated location of the vehicle within the map, and issue commands capable of controlling a steering operation of the vehicle based on the updated positions of the factor nodes.
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公开(公告)号：US11599119B2
公开(公告)日：2023-03-07
申请号：US17386913
申请日：2021-07-28
申请人： EMBARK TRUCKS, INC.
发明人： Kwabena Agyeman
摘要： A system and method, optionally implemented in a hardware circuitry, to receive a global positioning system pulse per second, GPS PPS, signal generated by a GPS receiver in a vehicle having a plurality of sensors; monitor the GPS PPS signal for an indication of a presence and a frequency of the GPS PPS signal within a predetermined threshold; generate a generated PPS signal synchronized with the GPS PPS signal; generate, based on an input of the generated PPS signal, a plurality of trigger signals, each of the generated plurality of trigger signals being selectively programmatically adjustable in at least one of a frequency and a phase, the selectively adjustability of each of the generated plurality of trigger signals being independent of the other generated plurality of trigger signals; and transmit at least one of the generated plurality of trigger signals to one or more of the sensors.
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公开(公告)号：US20230035972A1
公开(公告)日：2023-02-02
申请号：US17386913
申请日：2021-07-28
申请人： EMBARK TRUCKS, INC.
发明人： Kwabena Agyeman
摘要： A system and method, optionally implemented in a hardware circuitry, to receive a global positioning system pulse per second, GPS PPS, signal generated by a GPS receiver in a vehicle having a plurality of sensors; monitor the GPS PPS signal for an indication of a presence and a frequency of the GPS PPS signal within a predetermined threshold; generate a generated PPS signal synchronized with the GPS PPS signal; generate, based on an input of the generated PPS signal, a plurality of trigger signals, each of the generated plurality of trigger signals being selectively programmatically adjustable in at least one of a frequency and a phase, the selectively adjustability of each of the generated plurality of trigger signals being independent of the other generated plurality of trigger signals; and transmit at least one of the generated plurality of trigger signals to one or more of the sensors.
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公开(公告)号：US20230027622A1
公开(公告)日：2023-01-26
申请号：US17945497
申请日：2022-09-15
申请人： EMBARK TRUCKS INC.
摘要： Provided are systems and methods for detecting a vehicle with sensors that are not calibrated properly and calibrating such sensor in real-time. In one example, a method may include iteratively capturing sensor data of a road while the vehicle is travelling on the road; monitoring a calibration of the sensors of the vehicle based on the sensor data, determining that the sensors of the vehicle are not calibrated properly based on the monitoring, generating a calibration target of an object on the road based on the sensor data, and adjusting a calibration parameter of the one or more sensors of the vehicle based on the generated calibration target.
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公开(公告)号：US11465641B1
公开(公告)日：2022-10-11
申请号：US17704197
申请日：2022-03-25
申请人： EMBARK TRUCKS INC.
发明人： Kwabena Agyeman , Ajithkumar Dasari , Sami Rajala
摘要： Provided is a system and method for interfacing with physical input mechanisms of a vehicle and electrically controlling signals from the physical input mechanisms to a computer of the vehicle. Examples of such physical input mechanisms include a gas pedal, a brake pedal, a turn signal stalk, a button, and the like. In one example, the method may include receiving, via a first interface, a request to actuate a component of a vehicle that is controlled by a physical input mechanism, generating, via a processor, a control signal that corresponds to an actuation signal from the physical input mechanism, and transmitting, via a second interface, the generated control signal to a control unit of the vehicle for actuating the component of the vehicle.
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公开(公告)号：US11611477B1
公开(公告)日：2023-03-21
申请号：US17714466
申请日：2022-04-06
申请人： EMBARK TRUCKS, INC.
发明人： Igor Prilepov , Kwabena Agyeman
IPC分类号： H04L41/0823 , H04W4/46 , H04L67/00
摘要： A system and method including storing a configuration file defining one or more data structures to configure a first radio to communicate with a second radio, the configuration file defining at least a radio frequency (RF) channel and a plurality of data ports; and updating a set of configuration settings of the first radio based on the data structures defined in the configuration file, and to communicate RF data through the plurality of data ports with the second radio.
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公开(公告)号：US20230028919A1
公开(公告)日：2023-01-26
申请号：US17675045
申请日：2022-02-18
申请人： EMBARK TRUCKS INC.
发明人： Phillip Haeusler
摘要： Provided are systems and methods for auto calibrating a vehicle using a calibration target that is generated from the vehicle's sensor data. In one example, the method may include receiving sensor data associated with a road captured by one or more sensors of a vehicle, identifying lane line data points within the sensor data, generating a representation which includes positions of a plurality of lane lines of the road based on the identified lane line data points, and adjusting a calibration parameter of a sensor from among the one or more sensors of the vehicle based on the representation of the plurality of lane lines.
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