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公开(公告)号：US20230227031A1
公开(公告)日：2023-07-20
申请号：US18186315
申请日：2023-03-20
CPC分类号： B60W30/09 , G05D1/0214 , G05D1/0088 , B60W60/001 , B60W30/18163 , G08G1/166 , G06V10/26 , G06V20/58 , G05D2201/0213 , B60W2720/106 , B60W2554/4041
摘要： An occlusion is identified in a vehicle transportation network. A visibility grid is identified on a second side of the occlusion for a vehicle that is on a first side of the occlusion. The visibility grid is identified with respect to a region of interest that is at least a predefined distance above ground. The visibility grid is used to identify first portions of roads sensed by a sensor positioned on the vehicle and second portions of the roads that are not sensed by the sensor. A driving behavior of the vehicle is altered based on the visibility grid.
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公开(公告)号：US20230012853A1
公开(公告)日：2023-01-19
申请号：US17377657
申请日：2021-07-16
IPC分类号： B60W30/095 , B60W30/09 , B60W30/18 , G05D1/02
摘要： Proactively mitigating risk to a vehicle traversing a vehicle transportation network is described. First and second hazard zones for first and second objects ahead of the vehicle are respectively determined. The first hazard zone includes a first target lateral constraint that extends over a left lane boundary, and the second hazard zone includes a second target lateral constraint that extends over a right lane boundary. The lateral constraints separately allow the vehicle to avoid the objects without a speed constraint. Where the first and second hazard zones overlap in the longitudinal direction, a lateral buffer is allocated between the lateral constraints to generate first and second allocated lateral constraints. Longitudinal constraints are respectively determined based on times of arrival at each hazard zone. Using the constraints, a proactive trajectory is determined that includes a lateral contingency, a longitudinal contingency, or both. The vehicle is controlled according to the trajectory.
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公开(公告)号：US20220379923A1
公开(公告)日：2022-12-01
申请号：US17331176
申请日：2021-05-26
摘要： Categorizing driving behaviors of other road users includes maintaining a first history of first lateral-offset values of a road user with respect to a center line of a lane of a road; determining a first pattern based on the first history of the first lateral-offset values; determining a driving behavior of the road user based on the first pattern; and autonomously performing, by a host vehicle, a driving maneuver based on the driving behavior of the road user. The first history can be maintained for a predetermined period of time. An apparatus includes a processor that is configured to track a trajectory history of a road user; determine, based on the trajectory history, a driving behavior of the road user; and transmit a notification of the driving behavior.
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公开(公告)号：US20220205796A1
公开(公告)日：2022-06-30
申请号：US17130392
申请日：2020-12-22
摘要： Route planning for a hybrid electric vehicle (HEV) includes obtaining a route between an origin and a destination, where the route is optimized for at least one of a noise level or energy consumption of an engine of the HEV that is used to charge a battery of the HEV, and where the route comprises respective engine activation actions for at least some segments of the route; and controlling the HEV to follow the segments of the route and to activate the engine according to the respective engine activation actions.
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公开(公告)号：US11016485B2
公开(公告)日：2021-05-25
申请号：US16367758
申请日：2019-03-28
摘要： Exception handing, such as of obstruction situations, by an autonomous vehicle (AV) is disclosed. A method includes identifying an exception situation; identifying a risk associated with autonomously resolving the exception situation; and in response to the risk exceeding a risk threshold, initiating a request for assistance from a tele-operator, and halting for the tele-operator to respond to the request; and receiving a response from the tele-operator.
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公开(公告)号：US20210148726A1
公开(公告)日：2021-05-20
申请号：US16683685
申请日：2019-11-14
发明人： Christopher Ostafew , Thiago Aguiar , Atsuhide Kobashi , David Ilstrup , Sachin Hagaribommanahalli , Qizhan Tam , Therese Cypher-Plissart
摘要： An apparatus for traveling through a transportation network performs a method including generating a display that includes a geographical area about a starting location for route assistance through the transportation network and a virtual vehicle at the starting location, and forming a virtual path for the route assistance using the virtual vehicle. The virtual path includes a first portion obtained from advancing the virtual vehicle from the starting location while an autonomous vehicle (AV) is at the starting location and a second portion obtained from, after the virtual vehicle departs from the starting location, extrapolating from the virtual vehicle through the geographical area to a stopping location or an ending location of the route assistance. Points along the virtual path are continually transmitted to a trajectory planner of the AV while the virtual vehicle advances through the geographical area, and the trajectory planner generates a route for the AV conforming to the virtual path.
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公开(公告)号：US12071127B2
公开(公告)日：2024-08-27
申请号：US17377657
申请日：2021-07-16
IPC分类号： B60W30/095 , B60W30/09 , B60W30/18 , G05D1/00
CPC分类号： B60W30/0953 , B60W30/09 , B60W30/18163 , G05D1/0214 , G05D1/0223 , B60W2552/53 , B60W2554/4041
摘要： Proactively mitigating risk to a vehicle traversing a vehicle transportation network is described. First and second hazard zones for first and second objects ahead of the vehicle are respectively determined. The first hazard zone includes a first target lateral constraint that extends over a left lane boundary, and the second hazard zone includes a second target lateral constraint that extends over a right lane boundary. The lateral constraints separately allow the vehicle to avoid the objects without a speed constraint. Where the first and second hazard zones overlap in the longitudinal direction, a lateral buffer is allocated between the lateral constraints to generate first and second allocated lateral constraints. Longitudinal constraints are respectively determined based on times of arrival at each hazard zone. Using the constraints, a proactive trajectory is determined that includes a lateral contingency, a longitudinal contingency, or both. The vehicle is controlled according to the trajectory.
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公开(公告)号：US12043284B2
公开(公告)日：2024-07-23
申请号：US17049112
申请日：2018-05-31
发明人： Christopher Ostafew
CPC分类号： B60W60/0011 , B60W30/09 , B60W30/0956 , B60W30/146 , B60W40/04 , B60W60/001 , B60W60/0015 , B60W60/00274 , G06V20/58 , B60W2554/20 , B60W2554/4044 , B60W2554/4045
摘要： Object avoidance by an autonomous vehicle (AV) is disclosed. A method includes detecting a first object along a coarse driveline of a drivable area of the AV; receiving a predicted path of the first object; determining, based on the predicted path of the first object, an adjusted drivable area; and determining a trajectory of the AV through the adjusted drivable area. A system includes a trajectory planner configured to detect a first object along a coarse driveline of a drivable area of the AV; receive a predicted path of the first object; determine, based on the predicted path of the first object, an adjusted drivable area; and determine a trajectory of the AV through the adjusted drivable area.
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公开(公告)号：US11946760B2
公开(公告)日：2024-04-02
申请号：US17130490
申请日：2020-12-22
IPC分类号： G01C21/34 , B60W10/06 , B60W20/14 , B60W40/08 , G01C21/00 , G01S19/42 , B60W10/08 , B60W30/18
CPC分类号： G01C21/3469 , B60W10/06 , B60W20/14 , B60W40/08 , G01C21/3807 , G01S19/42 , B60W10/08 , B60W30/18127 , B60W2510/244 , B60W2520/105 , B60W2540/10 , B60W2540/12 , B60W2552/15 , B60W2555/20
摘要： Activating an engine of a HEV to charge a battery includes obtaining a first GPS trace from a first trip of the HEV along a first route, where the first GPS trace includes first trace metadata; obtaining a second GPS trace from a second trip, where the second GPS trace includes second trace metadata; adding, to a navigation map, an aggregation of the first trace metadata and the second trace metadata for edges of the navigation map; using the navigation map to obtain an activation action of the engine, where the activation action is selected from a set that includes a first activation action of turning the engine on and a second activation action of turning the engine off; and activating the engine according to the activation action, where activating the engine using the first activation action causes the engine to turn on to charge the battery of the HEV.
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公开(公告)号：US20230174042A1
公开(公告)日：2023-06-08
申请号：US18152266
申请日：2023-01-10
CPC分类号： B60W20/13 , B60W10/06 , G01C21/3469 , B60W10/08
摘要： A method for planning an activation action for an engine of a vehicle is disclosed. The method includes planning, according to a model, an activation action of an engine of a vehicle, and activating the engine according to the activation action. The model includes a state space comprising a current charge level of the battery and whether the engine is currently on or off. The activation action is selected from a set comprising a first action to turn on the engine to charge the battery and a second action to turn off the engine.
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