公开(公告)号：US20240230865A1

公开(公告)日：2024-07-11

申请号：US18095457

申请日：2023-01-10

Applicant: Luminar Technologies, Inc

Inventor： Vinay Kashyap Takmul Purushothama Raju ,  Pranav Maheshwari

IPC: G01S7/497 ,  G01S17/894

CPC classification number: G01S7/497 ,  G01S17/894

Abstract: A system includes one or more processors configured to receive data point information captured using a lidar device, project the data point information onto a horizontal plane perspective, filter the projected data point information, determine a ground plane among one or more planes identified using the filtered projected data point information, and provide a parameter associated with the determined ground plane for configuring the lidar device. The system also includes a memory coupled with at least a portion of the one or more processors.

公开(公告)号：US10809364B2

公开(公告)日：2020-10-20

申请号：US16196630

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Tomi P. Maila ,  Pranav Maheshwari ,  Benjamin Englard

IPC: G01S7/521 ,  G01S7/497 ,  G01S17/42 ,  G05D1/02 ,  G01S17/89 ,  G01S17/87 ,  G01S7/481 ,  G06N20/00 ,  G01S17/06 ,  G01S17/58 ,  G01S17/86 ,  G01S17/931 ,  G06T7/246 ,  G06T7/73 ,  B60W30/095 ,  G06K9/00 ,  G06T7/521 ,  G01S7/48 ,  G01S17/08 ,  H04N5/232 ,  G06K9/62 ,  G06T3/60 ,  G06T5/00 ,  G06T7/20 ,  G06T7/00 ,  G05D1/00

Abstract: A computer-implemented method of determining relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle configured to sense an environment by following a scan pattern comprising component scan lines. The method includes obtaining, based on the sensor data, a point cloud frame. Additionally, the method includes identifying a first pixel and a second pixel that are co-located within a field of regard and overlap a point cloud object within the point cloud frame and calculating a difference between a depth associated with the first pixel and a depth associated with the second pixel. The method includes determining a relative velocity of the point cloud object by dividing the difference in depth data by a time difference between when the depth associated with the first pixel was sensed and the depth associated with the second pixel was sensed.

公开(公告)号：US20200209858A1

公开(公告)日：2020-07-02

申请号：US16294274

申请日：2019-03-06

Applicant: Luminar Technologies, Inc.

Inventor： Dmytro Trofymov ,  Pranav Maheshwari ,  Vahid R. Ramezani

IPC: G05D1/00 ,  G06N20/00 ,  G06N3/08 ,  G05D1/02

Abstract: To generate a machine learning model for controlling autonomous vehicles, training sensor data is obtained from sensors associated with one or more vehicles, the sensor data indicative of physical conditions of an environment in which the one or more vehicles operate, and a machine learning (ML) model is trained using the training sensor data. The ML model generates parameters of the environment in response to input sensor data. A controller in an autonomous vehicle receives sensor data from one or more sensors operating in the autonomous vehicle, applies the received sensor data to the ML model to obtain parameters of an environment in which the autonomous vehicle operates, provides the generated parameters to a motion planner component to generate decisions for controlling the autonomous vehicle, and causes the autonomous vehicle to maneuver in accordance with the generated decisions.

公开(公告)号：US20190113920A1

公开(公告)日：2019-04-18

申请号：US16149225

申请日：2018-10-02

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Pranav Maheshwari ,  Shubham C. Khilari ,  Vahid R. Ramezani

IPC: G05D1/00 ,  G06N3/08 ,  G06N5/02 ,  G05D1/02 ,  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 component receives sensor data and generates signals descriptive of a current state of the environment. Based on those signals, a prediction component generates signals descriptive of one or more predicted future environment states. A motion planner generates decisions for maneuvering the vehicle toward a destination, at least by using the signals descriptive of the current and future environment states to set values of one or more independent variables in an objective equation. The objective equation includes terms corresponding to different driving objectives over a finite time horizon. Values of one or more dependent variables in the objective equation are determined by solving the equation subject to a set of constraints, and values of the dependent variables are used to generate decisions for maneuvering the vehicle.

公开(公告)号：US12033334B2

公开(公告)日：2024-07-09

申请号：US17839448

申请日：2022-06-13

Applicant: Luminar Technologies, Inc.

Inventor： Vahid R. Ramezani ,  Akshay Rangesh ,  Benjamin Englard ,  Siddhesh S. Mhatre ,  Meseret R. Gebre ,  Pranav Maheshwari

IPC: G06T7/246 ,  G06N3/044 ,  G06N3/08 ,  G06T7/73

CPC classification number: G06T7/246 ,  G06N3/044 ,  G06N3/08 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A sequence of images generated at respective times by one or more sensors configured to sense an environment through which objects are moving relative to the one or more sensors is received. A message passing graph having a multiplicity of layers associated with the sequence of images is constructed. A neural network supported by the message passing graph is trained. The training includes performing a pass through the message passing graph in a forward direction including by adding a new feature node based on a feature detection and a new edge node and performing a pass through the message passing graph in a backward direction, including by updating at least one edge node of the message passing graph. Multiple features are tracked through the sequence of images, including passing messages through the message passing graph.

公开(公告)号：US10551485B1

公开(公告)日：2020-02-04

申请号：US16196650

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Pranav Maheshwari ,  Tomi P. Maila ,  Benjamin Englard

IPC: G01S7/00 ,  G01S7/481 ,  G06T7/521 ,  G01S17/93 ,  G01S17/89 ,  G01S7/48 ,  G01S7/497 ,  H04N5/232 ,  G01S17/08

Abstract: A computer-implemented method of determining a relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle configured to sense an environment following a scan pattern. The method also includes obtaining, based on the sensor data, a point cloud frame. The point cloud frame comprises a plurality of points of depth data and a time at which the depth data was captured. Additionally, the method includes selecting two or more points of the scan pattern that overlap the object. The selected points are located on or near a two-dimensional surface corresponding to the object, and the depth data for two or more of the selected points are captured at different times. The method includes calculating the relative velocity between the vehicle and the object based on the depth data and capture times associated with the selected points.

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.

公开(公告)号：US12158524B2

公开(公告)日：2024-12-03

申请号：US17121723

申请日：2020-12-14

Applicant: Luminar Technologies, Inc.

Inventor： Pranav Maheshwari ,  Vahid R. Ramezani ,  Benjamin Englard ,  István Peter Burbank ,  Shubham C. Khilari ,  Meseret R. Gebre ,  Austin K. Russell

IPC: G01B11/26 ,  G01S7/48 ,  G01S7/481 ,  G01S17/88 ,  G01S17/89 ,  G01S17/931 ,  G06N20/00

Abstract: A method for determining a scan pattern according to which a sensor equipped with a scanner scans a field of regard (FOR) is presented. The method comprises obtaining, by processing hardware, a plurality of objective functions, each of the objective functions specifying a cost for a respective property of the scan pattern, expressed in terms of one or more operational parameters of the scanner. The method further includes applying, by the processing hardware, an optimization scheme to the plurality of objective functions to generate the scan pattern. The method further includes scanning the FOR according to the generated scan pattern.

公开(公告)号：US20200041619A1

公开(公告)日：2020-02-06

申请号：US16196650

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Pranav Maheshwari ,  Tomi P. Maila ,  Benjamin Englard

IPC: G01S7/481 ,  G06T7/521 ,  G01S17/93 ,  G01S17/89 ,  G01S17/08 ,  G01S7/48 ,  G01S7/497 ,  H04N5/232

Abstract: A computer-implemented method of determining a relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle configured to sense an environment following a scan pattern. The method also includes obtaining, based on the sensor data, a point cloud frame. The point cloud frame comprises a plurality of points of depth data and a time at which the depth data was captured. Additionally, the method includes selecting two or more points of the scan pattern that overlap the object. The selected points are located on or near a two-dimensional surface corresponding to the object, and the depth data for two or more of the selected points are captured at different times. The method includes calculating the relative velocity between the vehicle and the object based on the depth data and capture times associated with the selected points.

公开(公告)号：US12266146B2

公开(公告)日：2025-04-01

申请号：US18340573

申请日：2023-06-23

Applicant: Luminar Technologies, Inc.

Inventor： Pranav Maheshwari ,  Vahid R. Ramezani ,  Ismail El Houcheimi ,  Benjamin Englard

IPC: G08G1/04 ,  B60W40/072 ,  G05D1/00 ,  G06N20/00 ,  G06T7/11 ,  G06T11/20 ,  G06V10/426 ,  G06V10/50 ,  G06V10/764 ,  G06V10/77 ,  G06V20/56 ,  G08G1/01 ,  B60W60/00

Abstract: A system for detecting boundaries of lanes on a road is presented. The system includes an imaging system configured to produce a set of pixels associated with lane markings on a road. The system also includes one or more processors configured to detect boundaries of lanes on the road, including: receive, from the imaging system, the set of pixels associated with lane markings; partition the set of pixels into a plurality of groups, each of the plurality of groups associated with one or more control points; and generate a first spline that traverses the control points of the plurality of groups, the first spline describing a boundary of a lane on the road.