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公开(公告)号：US20190179025A1
公开(公告)日：2019-06-13
申请号：US16176607
申请日：2018-10-31
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Benjamin Englard , Eric C. Danziger , Joseph Augenbraun , Austin K. Russell
Abstract: A method for controlling a first sensor configured to sense an environment through which a vehicle is moving includes receiving sensor data generated by one or more sensors of the vehicle as the vehicle moves through the environment, identifying, by one or more processors and based on at least a portion of the received sensor data, one or more road portions along which the vehicle is expected to travel, and determining, by one or more processors, a configuration of the identified road portions, at least in part by determining a slope of at least one of the identified road portions. The method also includes determining, by one or more processors analyzing at least the determined configuration, an elevation of a field of regard of the first sensor that satisfies one or more visibility criteria, and causing the first sensor to be adjusted in accordance with the determined elevation.
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公开(公告)号：US20190113919A1
公开(公告)日：2019-04-18
申请号：US16149221
申请日：2018-10-02
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Benjamin Englard , Joseph Augenbraun
Abstract: A computer-readable medium stores instructions executable by one or more processors to implement an aggregate self-driving control architecture (SDCA) for controlling an autonomous vehicle. The aggregate SDCA includes a plurality of SDCAs each including a different motion planner. Each motion planner is configured to receive signals descriptive of a current state of an environment through which the autonomous vehicle is moving, and each SDCA is configured to generate candidate decisions for controlling the vehicle by using the respective motion planner to process the received signals. The aggregate SDCA also includes a decision arbiter configured to receive candidate decisions output by the SDCAs, generate decisions for controlling the vehicle by dynamically selecting from among the candidate decisions based on a current state of a desired mode signal, and provide signals indicative of the generated decisions to one or more operational subsystems of the vehicle to effectuate maneuvering of the vehicle.
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公开(公告)号：US10509127B2
公开(公告)日：2019-12-17
申请号：US16176607
申请日：2018-10-31
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Benjamin Englard , Eric C. Danziger , Joseph Augenbraun , Austin K. Russell
IPC: G01S17/89 , G01S7/40 , G01S7/41 , G01S13/42 , G05D1/00 , G05D1/02 , B60W30/18 , B60W10/04 , G06N3/08 , G01S13/93 , G06K9/62 , G01S17/93 , G06T3/40 , G06T17/05 , G06T17/20 , G01S7/48 , G01S7/481 , G01S17/02 , G06T7/50 , G06K9/42 , G01S17/66 , G06K9/00 , G06T15/08 , G01S7/497 , B60W50/06 , G06T7/20
Abstract: A method for controlling a first sensor configured to sense an environment through which a vehicle is moving includes receiving sensor data generated by one or more sensors of the vehicle as the vehicle moves through the environment, identifying, by one or more processors and based on at least a portion of the received sensor data, one or more road portions along which the vehicle is expected to travel, and determining, by one or more processors, a configuration of the identified road portions, at least in part by determining a slope of at least one of the identified road portions. The method also includes determining, by one or more processors analyzing at least the determined configuration, an elevation of a field of regard of the first sensor that satisfies one or more visibility criteria, and causing the first sensor to be adjusted in accordance with the determined elevation.
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公开(公告)号：US20190113918A1
公开(公告)日：2019-04-18
申请号：US16149219
申请日：2018-10-02
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Benjamin Englard , Joseph Augenbraun
Abstract: A computer-readable medium stores instructions executable by one or more processors to implement an aggregate self-driving control architecture (SDCA) for controlling an autonomous vehicle. The aggregate SDCA includes a plurality of SDCAs each including a different motion planner. Each motion planner is configured to receive signals descriptive of a current state of an environment through which the autonomous vehicle is moving, and each SDCA is configured to generate candidate decisions for controlling the autonomous vehicle by using the respective motion planner to process the received signals. The aggregate SDCA also includes a decision arbiter configured to receive the candidate decisions generated by the SDCAs, generate decisions for controlling the autonomous vehicle by processing the candidate decisions, and provide signals indicative of the generated decisions to one or more operational subsystems of the vehicle to effectuate maneuvering of the vehicle.
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