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公开(公告)号：US20230032132A1
公开(公告)日：2023-02-02
申请号：US17388517
申请日：2021-07-29
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef
IPC: B60W60/00 , B60W30/165
Abstract: Examples described herein provide a computer-implemented method for processing environmental data for at least one other vehicle relative to a target vehicle. The method includes processing, by a processing device using a self-attention mechanism, first data associated the at least one other vehicle to generate a first output associated with the at least one other vehicle. The method further includes processing, by the processing device using stacked residual blocks, second data associated the target vehicle to generate a second output associated with the target vehicle. The method further includes concatenating, by the processing device, the first output and the second output to generate a concatenated vector. The method further includes making, by the processing device, a driving decision for the target vehicle based at least in part on the concatenated vector. The method further includes controlling the target vehicle based at least in part on the decision.
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公开(公告)号：US20230044344A1
公开(公告)日：2023-02-09
申请号：US17444321
申请日：2021-08-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Roi Reshef , Zahy Bnaya , Vlad Goldner
Abstract: Methods and systems are provided for controlling an autonomous vehicle. In one embodiment, a method includes: identifying, by a processor, at least one constraint on a longitudinal dimension of an upcoming road; defining, by the processor, constraint activation logic based on a type of the at least one constraint; performing, by the processor, the constraint activation logic to determine a state of the constraint to be at least one of active and inactive; when the state of the constraint is active, validating, by the processor, a motion plan of the autonomous vehicle based on the constraint; and selectively controlling the autonomous vehicle based on the validating of the motion plan.
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公开(公告)号：US11866066B2
公开(公告)日：2024-01-09
申请号：US17038063
申请日：2020-09-30
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef
CPC classification number: B60W60/0011 , B60W10/04 , B60W10/18 , B60W10/20 , G01C21/3453 , G06N20/00 , B60W2420/42 , B60W2420/52 , B60W2520/00
Abstract: Systems and methods to perform behavioral planning in an autonomous vehicle from a reference state involve generating a set of actions of a fixed size and fixed order according to a predefined methodology. Each action is a semantic instruction for a next motion of the vehicle. A set of trajectories is generated from the set of actions as an instruction indicating a path and a velocity profile to generate steering angles and accelerations for implementation by the vehicle. A trajectory filter is applied to filter the set of trajectories such that unfiltered trajectories are candidate trajectories. Applying the trajectory filter includes assessing the path and velocity profile indicated by each of the set of trajectories. A selected trajectory is used to control the vehicle or the action that corresponds to the selected trajectory is used in trajectory planning to generate a final trajectory that is used to control the vehicle.
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公开(公告)号：US20230127999A1
公开(公告)日：2023-04-27
申请号：US17510616
申请日：2021-10-26
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef , Avshalom Suissa
Abstract: A vehicle, and a system a method of navigating a vehicle. The system includes a trajectory planning module and a trajectory tracking module. The trajectory planning module operates at a processor of the vehicle to generate a trajectory for the vehicle. The trajectory tracking module operates at the processor to track the trajectory to navigate the vehicle. The trajectory planning module and the trajectory tracking module run asynchronously from each other.
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公开(公告)号：US20220214181A1
公开(公告)日：2022-07-07
申请号：US17141421
申请日：2021-01-05
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Sayyed Rouhollah Jafari Tafti , Anthony L. Perez , Roi Reshef
Abstract: Methods and apparatus are provided for behavior planning for an autonomous vehicle. In one embodiment, a method includes: receiving navigation data including a navigation route; converting the navigation route to road segment data including a plurality of road segments; assigning lane attributes to the plurality road segments of the road segment data; computing cost data for each of the road segments; evaluating the cost data of each of the road segments to determine at least one driving behavior; and generating a display signal for displaying the driving behavior to a user of the autonomous vehicle.
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Patent Agency Ranking
公开(公告)号：US20220097714A1
公开(公告)日：2022-03-31
申请号：US17038141
申请日：2020-09-30
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef , Vlad Goldner , Yevgeni Shaphirov
IPC: B60W40/072 , B60W60/00 , G06K9/00 , G06K9/62
Abstract: A system and method operate an autonomous vehicle. A sensor senses a road and an object. A processor determines, in a Cartesian reference frame, a representation of the road and a source point representative of the object, samples a first waypoint and a second waypoint from the representation of the road, determines a linear projection of the source point to a line connecting the first waypoint and the second waypoint, determines a first estimate of a longitudinal component of the source point in a road-based reference frame based on the linear projection, the first estimate being on a curve representing the road between the first waypoint and the second waypoint, determines a second estimate of the longitudinal component from the first estimate, determines a coordinate of the source point in the road-based reference frame from the second estimate and operates the vehicle with respect to the object using the coordinate.
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公开(公告)号：US12050439B2
公开(公告)日：2024-07-30
申请号：US17510616
申请日：2021-10-26
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef , Avshalom Suissa
CPC classification number: G05B13/024 , G05D1/0212 , B60W60/001
Abstract: A vehicle, and a system a method of navigating a vehicle. The system includes a trajectory planning module and a trajectory tracking module. The trajectory planning module operates at a processor of the vehicle to generate a trajectory for the vehicle. The trajectory tracking module operates at the processor to track the trajectory to navigate the vehicle. The trajectory planning module and the trajectory tracking module run asynchronously from each other.
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公开(公告)号：US11912300B2
公开(公告)日：2024-02-27
申请号：US17038063
申请日：2020-09-30
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef
CPC classification number: B60W60/0011 , B60W10/04 , B60W10/18 , B60W10/20 , G01C21/3453 , G06N20/00 , B60W2420/403 , B60W2420/408 , B60W2520/00
Abstract: Systems and methods to perform behavioral planning in an autonomous vehicle from a reference state involve generating a set of actions of a fixed size and fixed order according to a predefined methodology. Each action is a semantic instruction for a next motion of the vehicle. A set of trajectories is generated from the set of actions as an instruction indicating a path and a velocity profile to generate steering angles and accelerations for implementation by the vehicle. A trajectory filter is applied to filter the set of trajectories such that unfiltered trajectories are candidate trajectories. Applying the trajectory filter includes assessing the path and velocity profile indicated by each of the set of trajectories. A selected trajectory is used to control the vehicle or the action that corresponds to the selected trajectory is used in trajectory planning to generate a final trajectory that is used to control the vehicle.
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公开(公告)号：US11577733B2
公开(公告)日：2023-02-14
申请号：US17038141
申请日：2020-09-30
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef , Vlad Goldner , Yevgeni Shaphirov
IPC: B60W40/072 , B60W60/00 , G06K9/62 , G06V20/56
Abstract: A system and method operate an autonomous vehicle. A sensor senses a road and an object. A processor determines, in a Cartesian reference frame, a representation of the road and a source point representative of the object, samples a first waypoint and a second waypoint from the representation of the road, determines a linear projection of the source point to a line connecting the first waypoint and the second waypoint, determines a first estimate of a longitudinal component of the source point in a road-based reference frame based on the linear projection, the first estimate being on a curve representing the road between the first waypoint and the second waypoint, determines a second estimate of the longitudinal component from the first estimate, determines a coordinate of the source point in the road-based reference frame from the second estimate and operates the vehicle with respect to the object using the coordinate.
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公开(公告)号：US20230009173A1
公开(公告)日：2023-01-12
申请号：US17305619
申请日：2021-07-12
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Roi Reshef
Abstract: In various embodiments, methods, systems, and vehicles are provided for executing a lane change for a host vehicle. In various embodiments, a method includes: receiving, by a processor, an indication that a lane change from an initial lane to an intended lane is desired for the host vehicle; defining, by the processor, an initial lane center target, a negotiation target, and an intended lane center target based on the desired lane change; and controlling, by the processor, the host vehicle to at least one of the initial lane center target, the negotiation target, and the intended lane center target based on a finite state machine, wherein the initial lane center target is at or in proximity to a determined center of the initial lane, wherein the intended lane center target is at or in proximity to a determined center of the intended lane, and wherein the negotiation target is offset from the initial lane center target and within the initial lane.
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