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公开(公告)号：US20230122617A1
公开(公告)日：2023-04-20
申请号：US18074770
申请日：2022-12-05
申请人： UATC, LLC
摘要： Systems and methods for vehicle spatial path sampling are provided. The method includes obtaining an initial travel path for an autonomous vehicle from a first location to a second location and vehicle configuration data indicative of one or more physical constraints of the autonomous vehicle. The method includes determining one or more secondary travel paths for the autonomous vehicle from the first location to the second location based on the initial travel path and the vehicle configuration data. The method includes generating a spatial envelope based on the one or more secondary travel paths that indicates a plurality of lateral offsets from the initial travel path. And, the method includes generating a plurality of trajectories for the autonomous vehicle to travel from the first location to the second location such that each of the plurality of trajectories include one or more lateral offsets identified by the spatial envelope.
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公开(公告)号：US11607973B2
公开(公告)日：2023-03-21
申请号：US16923610
申请日：2020-07-08
申请人： UATC, LLC
发明人： Daniel Adam Kanitz
IPC分类号： B60N2/12 , B60N2/02 , B60N2/01 , B60N2/832 , B60N2/20 , B60J5/04 , B60J5/06 , E05D15/04 , E05D15/34 , B60N2/22 , B60R3/00
摘要： An autonomous can include one or more configurable passenger seats to accommodate a plurality of different seating configurations. For instance, the one or more passenger seats can include a passenger seat defining a seating orientation. The passenger seat can be configurable in a first configuration in which the seating orientation is directed towards a forward end of the autonomous vehicle and a second configuration in which the seating orientation is directed towards a rear end of the autonomous vehicle. The passenger seat can include a seatback rotatable about a pivot point on a base of the passenger seat to switch between the first configuration and the second configuration. Alternatively, or additionally, the autonomous vehicle can include a door assembly pivotably fixed to a vehicle body of the autonomous vehicle such that a swept path of the door assembly when moving between an open position and a closed position is reduced.
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公开(公告)号：US11604475B2
公开(公告)日：2023-03-14
申请号：US17171660
申请日：2021-02-09
申请人： UATC, LLC
发明人： Scott Boehmke
摘要： A planar-beam, light detection and ranging (PLADAR) system can include a laser to output a laser beam and a collimator configured to collimate the laser beam axially to emit a planar beam from the laser. The PLADAR system can further include a detector to detect reflected light based on the planar beam being reflected from external surfaces of target objects.
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公开(公告)号：US11599112B2
公开(公告)日：2023-03-07
申请号：US17682133
申请日：2022-02-28
申请人： UATC, LLC
发明人： Nicholas Letwin , Sean Kelly
IPC分类号： B60W30/08 , G05D1/00 , B60T8/1755 , G05D1/02 , B60W50/02
摘要： An autonomous vehicle which includes multiple independent control systems that provide redundancy as to specific and critical safety situations which may be encountered when the autonomous vehicle is in operation.
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5.发明授权公开(公告)号：US11592832B2
公开(公告)日：2023-02-28
申请号：US16129277
申请日：2018-09-12
申请人： UATC, LLC
发明人： Mark Calleija
IPC分类号： G05D1/02 , G06T3/40 , G06K9/62 , G08G1/04 , G08G1/01 , G06V10/25 , G06V10/98 , G06V20/58 , H04N5/232 , G08G1/015 , G06V20/56 , H04N5/225 , G06T7/73
摘要： Disclosed are methods, systems, and non-transitory computer readable media that control an autonomous vehicle via at least two sensors. One aspect includes capturing an image of a scene ahead of the vehicle with a first sensor, identifying an object in the scene at a confidence level based on the image, determining the confidence level of the identifying is below a threshold, in response to the confidence level being below the threshold, directing a second sensor having a field of view smaller than the first sensor to generate a second image including a location of the identified object, further identifying the object in the scene based on the second image, controlling the vehicle based on the further identification of the object.
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公开(公告)号：US20230057604A1
公开(公告)日：2023-02-23
申请号：US17967710
申请日：2022-10-17
申请人： UATC, LLC
发明人： Raquel Urtasun , Kelvin Ka Wing Wong , Shenlong Wang , Mengye Ren , Ming Liang
摘要： Systems and methods of the present disclosure provide an improved approach for open-set instance segmentation by identifying both known and unknown instances in an environment. For example, a method can include receiving sensor point cloud input data including a plurality of three-dimensional points. The method can include determining a feature embedding and at least one of an instance embedding, class embedding, and/or background embedding for each of the plurality of three-dimensional points. The method can include determining a first subset of points associated with one or more known instances within the environment based on the class embedding and the background embedding associated with each point in the plurality of points. The method can include determining a second subset of points associated with one or more unknown instances within the environment based on the first subset of points. The method can include segmenting the input data into known and unknown instances.
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公开(公告)号：US11580851B2
公开(公告)日：2023-02-14
申请号：US17528277
申请日：2021-11-17
申请人： UATC, LLC
发明人： Shuhan Tan , Kelvin Ka Wing Wong , Shenlong Wang , Sivabalan Manivasagam , Mengye Ren , Raquel Urtasun
摘要： Example aspects of the present disclosure describe a scene generator for simulating scenes in an environment. For example, snapshots of simulated traffic scenes can be generated by sampling a joint probability distribution trained on real-world traffic scenes. In some implementations, samples of the joint probability distribution can be obtained by sampling a plurality of factorized probability distributions for a plurality of objects for sequential insertion into the scene.
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公开(公告)号：US20230043931A1
公开(公告)日：2023-02-09
申请号：US17972249
申请日：2022-10-24
申请人： UATC, LLC
发明人： Raquel Urtasun , Bin Yang , Ming Liang
摘要： Provided are systems and methods that perform multi-task and/or multi-sensor fusion for three-dimensional object detection in furtherance of, for example, autonomous vehicle perception and control. In particular, according to one aspect of the present disclosure, example systems and methods described herein exploit simultaneous training of a machine-learned model ensemble relative to multiple related tasks to learn to perform more accurate multi-sensor 3D object detection. For example, the present disclosure provides an end-to-end learnable architecture with multiple machine-learned models that interoperate to reason about 2D and/or 3D object detection as well as one or more auxiliary tasks. According to another aspect of the present disclosure, example systems and methods described herein can perform multi-sensor fusion (e.g., fusing features derived from image data, light detection and ranging (LIDAR) data, and/or other sensor modalities) at both the point-wise and region of interest (ROI)-wise level, resulting in fully fused feature representations.
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公开(公告)号：US20230038786A1
公开(公告)日：2023-02-09
申请号：US17962624
申请日：2022-10-10
申请人： UATC, LLC
发明人： Raquel Urtasun , Wei-Chiu Ma , Shenlong Wang , Yuwen Xiong , Rui Hu
摘要： Systems, methods, tangible non-transitory computer-readable media, and devices associated with motion flow estimation are provided. For example, scene data including representations of an environment over a first set of time intervals can be accessed. Extracted visual cues can be generated based on the representations and machine-learned feature extraction models. At least one of the machine-learned feature extraction models can be configured to generate a portion of the extracted visual cues based on a first set of the representations of the environment from a first perspective and a second set of the representations of the environment from a second perspective. The extracted visual cues can be encoded using energy functions. Three-dimensional motion estimates of object instances at time intervals subsequent to the first set of time intervals can be determined based on the energy functions and machine-learned inference models.
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公开(公告)号：US11561548B2
公开(公告)日：2023-01-24
申请号：US17067141
申请日：2020-10-09
申请人： UATC, LLC
摘要： Systems and methods for basis path generation are provided. In particular, a computing system can obtain a target nominal path. The computing system can determine a current pose for an autonomous vehicle. The computing system can determine, based at least in part on the current pose of the autonomous vehicle and the target nominal path, a lane change region. The computing system can determine one or more merge points on the target nominal path. The computing system can, for each respective merge point in the one or more merge points, generate a candidate basis path from the current pose of the autonomous vehicle to the respective merge point. The computing system can generate a suitability classification for each candidate basis path. The computing system can select one or more candidate basis paths based on the suitability classification for each respective candidate basis path in the plurality of candidate basis paths.
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