公开(公告)号：US11584393B2

公开(公告)日：2023-02-21

申请号：US17200575

申请日：2021-03-12

Applicant: Aptiv Technologies Limited

Inventor： Wojciech Turlej ,  Mateusz Orlowski ,  Tomasz Wrona ,  Nikodem Pankiewicz

IPC: B60W60/00 ,  B60W30/18 ,  B60W30/095

Abstract: A method for planning the motion of a vehicle includes: determining a nominal trajectory for the vehicle based on a desired maneuver to be carried out in a traffic space, on a current state of movement of the vehicle and on a detected state of a surrounding of the vehicle, and determining an abort trajectory branching off from the nominal trajectory and guiding the vehicle to a safe condition regardless of the desired maneuver, wherein the nominal trajectory and the abort trajectory are determined simultaneously using a single optimization process.

公开(公告)号：US20210300413A1

公开(公告)日：2021-09-30

申请号：US17200575

申请日：2021-03-12

Applicant: Aptiv Technologies Limited

Inventor： Wojciech Turlej ,  Mateusz Orlowski ,  Tomasz Wrona ,  Nikodem Pankiewicz

IPC: B60W60/00 ,  B60W30/095 ,  B60W30/18

Abstract: A method for planning the motion of a vehicle includes: determining a nominal trajectory for the vehicle based on a desired maneuver to be carried out in a traffic space, on a current state of movement of the vehicle and on a detected state of a surrounding of the vehicle, and determining an abort trajectory branching off from the nominal trajectory and guiding the vehicle to a safe condition regardless of the desired maneuver, wherein the nominal trajectory and the abort trajectory are determined simultaneously using a single optimization process.

公开(公告)号：US10677907B2

公开(公告)日：2020-06-09

申请号：US16003710

申请日：2018-06-08

Applicant: Aptiv Technologies Limited

Inventor： Mateusz Orlowski ,  Dariusz Cieslar ,  Mateusz Stachnik

IPC: G06F11/30 ,  G01S13/58 ,  G01S17/58 ,  G01S13/931 ,  G01S13/42 ,  G01S7/48 ,  G01S13/72 ,  G01S17/66 ,  G01S17/931 ,  G01S7/295 ,  G01S7/41

Abstract: A method to determine the heading or orientation of a target vehicle by a host vehicle, said host vehicle equipped with a lidar or radar system, said system including a sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target vehicle, comprising: a) determining at least one reference angle being an initial estimate of target heading or orientation (β); b) emitting a signal from said system and determining a plurality of point radar or lidar detections belonging to said a target vehicle, said point detections having co-ordinates in the horizontal plane; c) formulating an initial rectangular boundary box from said point detections, where the bounding box is formulated such that such that two edges of the boundary box are drawn parallel to the reference angle and two sides are perpendicular to the reference angle and such that all the detections are either on the bounding box sides or lay within the bounding box and each edge has at least one detection point on it; d) for each point on lying on an edge of the boundary box, rotating a line coincident with the respective edge clockwise and anticlockwise until said line intersects another point detection or until a maximum angle of rotation is performed; and each time when said line intersects said another point detection, determining a correction angle Δi, where the correction angle is such that applied to the reference angle it gives an orientation candidate angle γi; e) in respect of each orientation candidate angle γi/correction angle Δi, determining a cost function; and f) selecting that orientation candidate angle having the lowest cost function.

公开(公告)号：US20230113790A1

公开(公告)日：2023-04-13

申请号：US17938232

申请日：2022-10-05

Applicant: Aptiv Technologies Limited

Inventor： Nikodem Pankiewicz ,  Wojciech Turlej ,  Mateusz Orlowski

IPC: G05D1/02 ,  B60W30/14

Abstract: A computer implemented method for determining a driving trajectory as training data for machine learning based adaptive cruise control. The method includes the following steps carried out by computer hardware components: determining a cost function; determining at least one side condition; and determining the driving trajectory based on solving an optimization problem, and the optimization problem is based on the cost function and the at least one side condition.

公开(公告)号：US20220153303A1

公开(公告)日：2022-05-19

申请号：US17518400

申请日：2021-11-03

Applicant: Aptiv Technologies Limited

Inventor： Mateusz Orlowski ,  Tomasz Wrona ,  Wojciech Turlej ,  Nikodem Pankiewicz

IPC: B60W60/00 ,  B60W30/095 ,  G06F9/30 ,  G06N3/063

Abstract: A computer implemented method for determining a maneuver to be executed by an autonomous vehicle comprises the following steps carried out by computer hardware components: determining a plurality of potential maneuvers; determining a subset of the potential maneuvers based on a pre-determined condition; determining a mask based on the subset; determining an output of a fully connected layer of a neural network; determining a dot product of the output of the fully connected layer and the mask; and determining the maneuver to be executed based on the dot product.

公开(公告)号：US20230376782A1

公开(公告)日：2023-11-23

申请号：US18316072

申请日：2023-05-11

Applicant: Aptiv Technologies Limited

Inventor： Nikodem Pankiewicz ,  Pawel Kowalczyk ,  Mateusz Orlowski ,  Wojciech Turlej

IPC: G06N3/092

CPC classification number: G06N3/092

Abstract: A computer implemented method for analyzing a reinforcement learning agent based on an artificial neural network, which includes: acquiring data of a plurality of runs of the artificial neural network; processing the acquired data using an attributation method to obtain attributation data; and analyzing the artificial neural network based on the attributation data.