公开(公告)号：US12241757B1

公开(公告)日：2025-03-04

申请号：US17850340

申请日：2022-06-27

Applicant: Aurora Operations, Inc.

Inventor： Greg Coombe ,  Yekeun Jeong

IPC: G01C21/00 ,  B60W60/00

Abstract: Map data describing various geometric elements in a map used in autonomous vehicle localization is selectively weighted to vary the relative contributions of different geometric elements to an alignment operation. By doing so, the alignment operation may be biased to emphasize geometric elements associated with objects in an environment that are relatively more stable, e.g., roadways, walls, buildings, etc., over objects that are relatively less stable, e.g., vegetation, thereby in many instances improving alignment operation performance and/or availability.

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).