公开(公告)号：US10606270B2

公开(公告)日：2020-03-31

申请号：US16149223

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Gauri Gandhi ,  Pranav Maheshwari

IPC: G05D1/00 ,  G05D1/02 ,  G06F16/28 ,  B60W40/02 ,  G01C21/34 ,  G06N3/08 ,  G06N5/02 ,  G01C21/36

Abstract: A computer-readable medium stores instructions executable by one or more processors to implement a self-driving control architecture for controlling an autonomous vehicle. A perception and prediction component receives sensor data, and generates (1) an observed occupancy grid indicating which cells are currently occupied in a two-dimensional representation of the environment, and (2) predicted occupancy grids indicating which cells are expected to be occupied later. A mapping component provides navigation data for guiding the vehicle toward a destination, and a cost map generation component is configured to generate, based on the observed occupancy grid, the predicted occupancy grid(s), and the navigation data, cost maps that each specify numerical values representing a cost, at a respective instance of time, of occupying certain cells in a two-dimensional representation of the environment. A motion planner generates a grid path through the environment based on the cost maps, and corresponding decisions for maneuvering the vehicle.

公开(公告)号：US20190113927A1

公开(公告)日：2019-04-18

申请号：US16149223

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Gauri Gandhi ,  Pranav Maheshwari

IPC: G05D1/02 ,  G06N3/08 ,  G06N5/02 ,  G05D1/00 ,  G01C21/34

Abstract: A computer-readable medium stores instructions executable by one or more processors to implement a self-driving control architecture for controlling an autonomous vehicle. A perception and prediction component receives sensor data, and generates (1) an observed occupancy grid indicating which cells are currently occupied in a two-dimensional representation of the environment, and (2) predicted occupancy grids indicating which cells are expected to be occupied later. A mapping component provides navigation data for guiding the vehicle toward a destination, and a cost map generation component is configured to generate, based on the observed occupancy grid, the predicted occupancy grid(s), and the navigation data, cost maps that each specify numerical values representing a cost, at a respective instance of time, of occupying certain cells in a two-dimensional representation of the environment. A motion planner generates a grid path through the environment based on the cost maps, and corresponding decisions for maneuvering the vehicle.