公开(公告)号：US20230061950A1

公开(公告)日：2023-03-02

申请号：US17463879

申请日：2021-09-01

Applicant: Aurora Operations, Inc.

Inventor： Yekeun Jeong ,  Abhay Vardhan ,  Adam Richard Williams

IPC: G01S17/32 ,  G01S17/58 ,  B60W60/00 ,  G05D1/02

Abstract: Systems and methods for localization of a trailer of an autonomous tractor-trailer are described herein. Some implementations can determine a sector area in an environment of the autonomous tractor-trailer that is predicted to include the trailer, determine a subset of an LIDAR data that is generated by LIDAR sensor(s) of an autonomous tractor of the autonomous tractor-trailer and that is predicted to include the trailer based on the sector area, generate a trailer pose instance of a trailer pose of the trailer based on the subset of the LIDAR data, and cause the trailer pose instance to be utilized in controlling the autonomous tractor-trailer. Additional or alternative implementations can utilize particular LIDAR sensor(s) in generating the trailer pose instance, such as phase coherent LIDAR sensor(s) or polarized LIDAR sensor(s).