公开(公告)号：US12071160B2

公开(公告)日：2024-08-27

申请号：US17028203

申请日：2020-09-22

Applicant: Aurora Operations, Inc.

Inventor： Chenggang Liu ,  Daoyuan Jia ,  David McAllister Bradley

IPC: B60W60/00 ,  B60W30/095 ,  B60W40/10

CPC classification number: B60W60/0011 ,  B60W30/095 ,  B60W40/10 ,  B60W60/0016 ,  B60W2554/4041

Abstract: The present disclosure is directed to generating vehicle motion corridors for use in generating autonomous vehicle paths. In particular, a computing system can access map data for a geographic area and sensor data for the geographic area around an autonomous vehicle. The computing system can identify, based on the map data and the sensor data, object data describing a position and a size of one or more objects in the geographic area of the autonomous vehicle. The computing system can access path data describing a nominal path through the geographic area. The computing system can determine a plurality of corridor segments associated with the nominal path. The computing system can generate a vehicle motion corridor by aggregating the plurality of corridor segments, wherein the vehicle motion corridor defines an area in which the autonomous vehicle can travel without colliding with the one or more objects.

公开(公告)号：US20240425083A1

公开(公告)日：2024-12-26

申请号：US18754461

申请日：2024-06-26

Applicant: Aurora Operations, Inc.

Inventor： Chenggang Liu ,  David McAllister Bradley ,  Nitish Thatte ,  Colin Jeffrey Green

IPC: B60W60/00 ,  B60W30/14

Abstract: The present disclosure is directed to altering vehicle paths. In particular, a computing system can access map data for a geographic area. The computing system can obtain target zone data describing a target zone within the geographic area. The computing system can determine an altered nominal path to traverse the target zone. The computing system can designate a portion of the altered nominal path as a designated action region associated with the target zone. The computing system can generate a longitudinal plan for an autonomous vehicle through the geographic area based on the altered nominal path. The computing system can generate a target velocity for one or more portions of the nominal path within the designated action region. The computing system can generate a trajectory for the autonomous vehicle based on the target velocity and the altered nominal path.

公开(公告)号：US20240272637A1

公开(公告)日：2024-08-15

申请号：US18647223

申请日：2024-04-26

Applicant: Aurora Operations, Inc.

Inventor： Chenggang Liu ,  David McAllister Bradley ,  Daoyuan Jia

IPC: G05D1/00 ,  B60W30/18 ,  B60W60/00

CPC classification number: G05D1/0217 ,  B60W60/001 ,  B60W30/18163 ,  B60W2520/06 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2552/10 ,  B60W2555/60

Abstract: 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.

公开(公告)号：US20240310835A1

公开(公告)日：2024-09-19

申请号：US18674442

申请日：2024-05-24

Applicant: Aurora Operations, Inc.

Inventor： David McAllister Bradley ,  Chenggang Liu ,  Daoyuan Jia

IPC: G05D1/00 ,  B60W60/00

CPC classification number: G05D1/0212 ,  B60W60/0011

Abstract: 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.