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公开(公告)号：US20230311947A1
公开(公告)日：2023-10-05
申请号：US18123907
申请日：2023-03-20
Applicant: Motional AD LLC
Inventor： Zhuang Jie Chong , Ning Wu
CPC classification number: B60W60/0027 , B60W60/0013 , G06V20/58 , B60W2520/28 , B60W2554/802 , B60W2420/42 , B60W2554/803 , B60W2554/804 , B60W2554/4026 , B60W2554/4029 , B60W2556/45 , B60W2554/801
Abstract: Enclosed are embodiments for navigation with drivable area detection. In an embodiment, a method comprises: receiving a point cloud from a depth sensor, receiving image data from a camera; predicting at least one label indicating a drivable area by applying machine learning to the image data; labeling the point cloud using the at least one label; obtaining odometry information; generating a drivable area by registering the labeled point cloud and odometry information to a reference coordinate system; and controlling the vehicle to drive within the drivable area.
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公开(公告)号：US11014606B2
公开(公告)日：2021-05-25
申请号：US16776422
申请日：2020-01-29
Applicant: Motional AD LLC
Inventor： Ning Wu , Hans Andersen , Francesco Seccamonte
Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.
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公开(公告)号：US12054209B2
公开(公告)日：2024-08-06
申请号：US17328905
申请日：2021-05-24
Applicant: Motional AD LLC
Inventor： Ning Wu , Hans Andersen , Francesco Seccamonte
CPC classification number: B62D6/04 , B62D1/283 , B62D5/0463 , B62D5/0475 , B62D15/025 , B60W2050/0024 , B60W2050/0075 , B60W2556/45 , B62D6/002
Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.
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Patent Agency Ranking
公开(公告)号：US11794775B2
公开(公告)日：2023-10-24
申请号：US17249465
申请日：2021-03-02
Applicant: MOTIONAL AD LLC
Inventor： Juraj Kabzan , Hans Andersen , Lixun Lin , Ning Wu , Yiming Zhao , Xiyuan Liu , Qian Wang , Zachary Batts , Jesse Adam Miller , Boaz Cornelis Floor , Marc Dominik Heim
CPC classification number: B60W60/001 , B60W10/04 , B60W10/20 , G05D1/0088 , G05D1/0223 , B60W2710/20 , B60W2720/10 , B60W2720/12 , G05D2201/0213
Abstract: The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands.
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公开(公告)号：US20230159063A1
公开(公告)日：2023-05-25
申请号：US17532378
申请日：2021-11-22
Applicant: Motional AD LLC
Inventor： Jesse Adam Miller , Eric Wolff , Ning Wu
CPC classification number: B60W60/0061 , B60W60/0059 , B60W60/0053 , B60W60/0015 , B60W50/082 , B60W50/14 , B60W10/20 , B60W2050/0054
Abstract: Provided are methods for autonomous driving mode engagement. Some systems described receive at least one autonomous vehicle operation task output associated with driving a vehicle in autonomous driving mode in an environment while the vehicle is operated in manual driving mode in the environment. The at least one autonomous vehicle operation task output is compared to a respective threshold, wherein the respective threshold is adaptive based on a current operational state of the vehicle in the manual driving mode. A transition indicator is set based on the comparison, and a transition from the manual driving mode to the autonomous driving mode is rejected in response to the transition indicator indicating a smooth transition from the manual driving mode to the autonomous driving mode is unavailable. Methods and computer program products are also provided.
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公开(公告)号：US11608084B1
公开(公告)日：2023-03-21
申请号：US17459096
申请日：2021-08-27
Applicant: Motional AD LLC
Inventor： Zhuang Jie Chong , Ning Wu
Abstract: Enclosed are embodiments for navigation with drivable area detection. In an embodiment, a method comprises: receiving a point cloud from a depth sensor, receiving image data from a camera; predicting at least one label indicating a drivable area by applying machine learning to the image data; labeling the point cloud using the at least one label; obtaining odometry information; generating a drivable area by registering the labeled point cloud and odometry information to a reference coordinate system; and controlling the vehicle to drive within the drivable area.
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公开(公告)号：US20230069215A1
公开(公告)日：2023-03-02
申请号：US17459096
申请日：2021-08-27
Applicant: Motional AD LLC
Inventor： Zhuang Jie Chong , Ning Wu
Abstract: Enclosed are embodiments for navigation with drivable area detection. In an embodiment, a method comprises: receiving a point cloud from a depth sensor, receiving image data from a camera; predicting at least one label indicating a drivable area by applying machine learning to the image data; labeling the point cloud using the at least one label; obtaining odometry information; generating a drivable area by registering the labeled point cloud and odometry information to a reference coordinate system; and controlling the vehicle to drive within the drivable area.
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公开(公告)号：US20210347408A1
公开(公告)日：2021-11-11
申请号：US17328905
申请日：2021-05-24
Applicant: Motional AD LLC
Inventor： Ning Wu , Hans Andersen , Francesco Seccamonte
Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.
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