CONTROLLING AN AUTONOMOUS VEHICLE USING MODEL PREDICTIVE CONTROL

    公开(公告)号:US20190113920A1

    公开(公告)日:2019-04-18

    申请号:US16149225

    申请日:2018-10-02

    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.

    Velocity determination with a scanned lidar system

    公开(公告)号:US12140671B2

    公开(公告)日:2024-11-12

    申请号:US17065011

    申请日:2020-10-07

    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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