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：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：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：US10481605B1

公开(公告)日：2019-11-19

申请号：US16138427

申请日：2018-09-21

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Tomi P. Maila ,  Vahid R. Ramezani ,  Benjamin Englard

IPC: B60W50/029 ,  G05D1/02 ,  G08G1/01 ,  G01C21/34

Abstract: Various software techniques for managing operation of autonomous vehicles based on sensor data are disclosed herein. A computing system may generate, based on a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating, a normal path plan separate from a safe path plan, or a hybrid path plan including a normal path plan and a safe path plan. In generating the safe path plan, the computing system may generate and concatenate a set of motion primitives. When a fault condition occurs, the computing device may transition from executing the normal path plan to executing the safe path plan to safely stop the autonomous vehicle.

公开(公告)号：US20200097010A1

公开(公告)日：2020-03-26

申请号：US16138513

申请日：2018-09-21

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Tomi P. Maila ,  Vahid R. Ramezani ,  Benjamin Englard

IPC: G05D1/02 ,  G05D1/00 ,  B60W50/029

Abstract: Various software techniques for managing operation of autonomous vehicles based on sensor data are disclosed herein. A computing system may generate, based on a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating, a normal path plan separate from a safe path plan, or a hybrid path plan including a normal path plan and a safe path plan. In generating the safe path plan, the computing system may generate and concatenate a set of motion primitives. When a fault condition occurs, the computing device may transition from executing the normal path plan to executing the safe path plan to safely stop the autonomous vehicle.

公开(公告)号：US20200043176A1

公开(公告)日：2020-02-06

申请号：US16196630

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

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

IPC: G06T7/246 ,  G06T7/521 ,  G06K9/00 ,  G06T7/00 ,  G06T7/73 ,  G01S17/58 ,  G06T5/00

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：US10394243B1

公开(公告)日：2019-08-27

申请号：US16138582

申请日：2018-09-21

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Vahid R. Ramezani ,  Benjamin Englard ,  Tomi P. Maila

IPC: G05D1/02 ,  G05D1/00 ,  B60W50/029

Abstract: Various software techniques for managing operation of autonomous vehicles based on sensor data are disclosed herein. A computing system may generate, based on a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating, a normal path plan separate from a safe path plan, or a hybrid path plan including a normal path plan and a safe path plan. In generating the safe path plan, the computing system may generate and concatenate a set of motion primitives. When a fault condition occurs, the computing device may transition from executing the normal path plan to executing the safe path plan to safely stop the autonomous vehicle.