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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：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：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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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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