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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
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.
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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.
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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
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.
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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
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.
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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
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.
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Patent Agency Ranking
公开(公告)号：US12298408B2
公开(公告)日：2025-05-13
申请号：US18079385
申请日：2022-12-12
Applicant: Luminar Technologies, Inc.
Inventor： Dominik Nuss , Masood Taheri , Amey Sutavani , Scott Walter , Scott Ryvola , Mohamed Ahmad , Flavian Pegado , Shubham C. Khilari , Vahid R. Ramezani
IPC: G01C21/00 , G01S17/86 , G01S17/931
Abstract: A system and method are described for assessing accuracy of a virtual horizon generated by a vehicle-based lidar system as the vehicle traverses a route of travel. Travel route topology data is obtained by a vehicle vehicle-mounted global positioning system-assisted inertial measurement unit (GPS/IMU) data. A reference virtual horizon at points along the route of travel is obtained from the GPS/IMU data and is compared with the virtual horizon generated by the lidar system for the same points to assess the accuracy of the virtual horizon generated by the lidar system.
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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.
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公开(公告)号：US12140671B2
公开(公告)日：2024-11-12
申请号：US17065011
申请日：2020-10-07
Applicant: Luminar Technologies, Inc.
Inventor： Pranav Maheshwari , Meseret R. Gebre , Shubham C. Khilari , Vahid R. Ramezani
Abstract: A scanning imaging sensor is configured to sense an environment through which a vehicle is moving. A method for determining one or velocities associated with objects in the environment includes generating features from the first set of scan lines and the second set of scan lines, the two sets corresponding to two instances in time. The method further includes generating a collection of candidate velocities based on feature locations and time differences, the features selected pairwise with one from the first set and another from the second set. Furthermore, the method includes analyzing the distribution of candidate velocities, for example, by identifying one or more modes from the collection of the candidate velocities.
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9.发明申请公开(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.
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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.
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