公开(公告)号：US20220379917A1

公开(公告)日：2022-12-01

申请号：US17328052

申请日：2021-05-24

Applicant: NVIDIA Corporation

Inventor： Birgit Henke ,  David Nister ,  Julia Ng

IPC: B60W60/00

Abstract: A trajectory for an autonomous machine may be evaluated for safety based at least on determining whether the autonomous machine would be capable of occupying points of the trajectory in space-time while still being able to avoid a potential future collision with one or more objects in the environment through use of one or more safety procedures. To do so, a point of the trajectory may be evaluated for conflict based at least on a comparison between points in space-time that correspond to the autonomous machine executing the safety procedure(s) from the point and arrival times of the one or more objects to corresponding position(s) in the environment. A trajectory may be sampled and evaluated for conflicts at various points throughout the trajectory. Based on results of one or more evaluations, the trajectory may be scored, eliminated from consideration, or otherwise considered for control of the autonomous machine.

公开(公告)号：US20230357076A1

公开(公告)日：2023-11-09

申请号：US18311172

申请日：2023-05-02

Applicant: NVIDIA Corporation

Inventor： Michael Kroepfl ,  Amir Akbarzadeh ,  Ruchi Bhargava ,  Viabhav Thukral ,  Neda Cvijetic ,  Vadim Cugunovs ,  David Nister ,  Birgit Henke ,  Ibrahim Eden ,  Youding Zhu ,  Michael Grabner ,  Ivana Stojanovic ,  Yu Sheng ,  Jeffrey Liu ,  Enliang Zheng ,  Jordan Marr ,  Andrew Carley

IPC: C03C17/36

CPC classification number: C03C17/3607 ,  C03C17/3639 ,  C03C17/3644 ,  C03C17/366 ,  C03C17/3626 ,  C03C17/3668 ,  C03C17/3642 ,  C03C17/3681 ,  C03C2217/70 ,  C03C2217/216 ,  C03C2217/228 ,  C03C2217/24 ,  C03C2217/256 ,  C03C2217/281 ,  C03C2217/22 ,  C03C2217/23 ,  C03C2218/156

Abstract: An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.

公开(公告)号：US20230204383A1

公开(公告)日：2023-06-29

申请号：US18175713

申请日：2023-02-28

Applicant: NVIDIA Corporation

Inventor： Amir Akbarzadeh ,  David Nister ,  Ruchi Bhargava ,  Birgit Henke ,  Ivana Stojanovic ,  Yu Sheng

IPC: G01C21/00 ,  G06N3/02 ,  G01C21/16

CPC classification number: G01C21/3841 ,  G01C21/1652 ,  G01C21/3811 ,  G01C21/3867 ,  G01C21/3878 ,  G01C21/3896 ,  G06N3/02

Abstract: An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams – or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data – corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data – and ultimately a fused high definition (HD) map – that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.

公开(公告)号：US20210063200A1

公开(公告)日：2021-03-04

申请号：US17007873

申请日：2020-08-31

Applicant: NVIDIA Corporation

Inventor： Michael Kroepfl ,  Amir Akbarzadeh ,  Ruchi Bhargava ,  Vaibhav Thukral ,  Neda Cvijetic ,  Vadim Cugunovs ,  David Nister ,  Birgit Henke ,  Ibrahim Eden ,  Youding Zhu ,  Michael Grabner ,  Ivana Stojanovic ,  Yu Sheng ,  Jeffrey Liu ,  Enliang Zheng ,  Jordan Marr ,  Andrew Carley

IPC: G01C21/00 ,  G06N3/02

Abstract: An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.

公开(公告)号：US20250100581A1

公开(公告)日：2025-03-27

申请号：US18974191

申请日：2024-12-09

Applicant: NVIDIA Corporation

Inventor： Birgit Henke ,  David Nister ,  Julia Ng

IPC: B60W60/00

Abstract: A trajectory for an autonomous machine may be evaluated for safety based at least on determining whether the autonomous machine would be capable of occupying points of the trajectory in space-time while still being able to avoid a potential future collision with one or more objects in the environment through use of one or more safety procedures. To do so, a point of the trajectory may be evaluated for conflict based at least on a comparison between points in space-time that correspond to the autonomous machine executing the safety procedure(s) from the point and arrival times of the one or more objects to corresponding position(s) in the environment. A trajectory may be sampled and evaluated for conflicts at various points throughout the trajectory. Based on results of one or more evaluations, the trajectory may be scored, eliminated from consideration, or otherwise considered for control of the autonomous machine.

公开(公告)号：US20240239374A1

公开(公告)日：2024-07-18

申请号：US18620096

申请日：2024-03-28

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Yizhou Wang ,  Julia Ng ,  Rotem Aviv ,  Seungho Lee ,  Joshua John Bialkowski ,  Hon Leung Lee ,  Hermes Lanker ,  Raul Correal Tezanos ,  Zhenyi Zhang ,  Nikolai Smolyanskiy ,  Alexey Kamenev ,  Ollin Boer Bohan ,  Anton Vorontsov ,  Miguel Sainz Serra ,  Birgit Henke

IPC: B60W60/00 ,  B60W50/00 ,  G06N3/08

CPC classification number: B60W60/0011 ,  B60W50/0097 ,  G06N3/08

Abstract: Embodiments of the present disclosure relate to behavior planning for autonomous vehicles. The technology described herein selects a preferred trajectory for an autonomous vehicle based on an evaluation of multiple hypothetical trajectories by different components within a planning system. The various components provide an optimization score for each trajectory according to the priorities of the component and scores from multiple components may form a final optimization score. This scoring system allows the competing priorities (e.g., comfort, minimal travel time, fuel economy) of different components to be considered together. In examples, the trajectory with the best combined score may be selected for implementation. As such, an iterative approach that evaluates various factors may be used to identify an optimal or preferred trajectory for an autonomous vehicle when navigating an environment.

公开(公告)号：US11981349B2

公开(公告)日：2024-05-14

申请号：US17178464

申请日：2021-02-18

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Yizhou Wang ,  Julia Ng ,  Rotem Aviv ,  Seungho Lee ,  Joshua John Bialkowski ,  Hon Leung Lee ,  Hermes Lanker ,  Raul Correal Tezanos ,  Zhenyi Zhang ,  Nikolai Smolyanskiy ,  Alexey Kamenev ,  Ollin Boer Bohan ,  Anton Vorontsov ,  Miguel Sainz Serra ,  Birgit Henke

IPC: B60W60/00 ,  B60W50/00 ,  G05D1/00 ,  G06N3/08

CPC classification number: B60W60/0011 ,  B60W50/0097 ,  G05D1/0212 ,  G06N3/08

Abstract: Embodiments of the present disclosure relate to behavior planning for autonomous vehicles. The technology described herein selects a preferred trajectory for an autonomous vehicle based on an evaluation of multiple hypothetical trajectories by different components within a planning system. The various components provide an optimization score for each trajectory according to the priorities of the component and scores from multiple components may form a final optimization score. This scoring system allows the competing priorities (e.g., comfort, minimal travel time, fuel economy) of different components to be considered together. In examples, the trajectory with the best combined score may be selected for implementation. As such, an iterative approach that evaluates various factors may be used to identify an optimal or preferred trajectory for an autonomous vehicle when navigating an environment.

公开(公告)号：US20210063199A1

公开(公告)日：2021-03-04

申请号：US17008100

申请日：2020-08-31

Applicant: NVIDIA Corporation

Inventor： Amir Akbarzadeh ,  David Nister ,  Ruchi Bhargava ,  Birgit Henke ,  Ivana Stojanovic ,  Yu Sheng

IPC: G01C21/00 ,  G06N3/02

Abstract: An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.

公开(公告)号：US12179795B2

公开(公告)日：2024-12-31

申请号：US17328052

申请日：2021-05-24

Applicant: NVIDIA Corporation

Inventor： Birgit Henke ,  David Nister ,  Julia Ng

IPC: B60W60/00

Abstract: A trajectory for an autonomous machine may be evaluated for safety based at least on determining whether the autonomous machine would be capable of occupying points of the trajectory in space-time while still being able to avoid a potential future collision with one or more objects in the environment through use of one or more safety procedures. To do so, a point of the trajectory may be evaluated for conflict based at least on a comparison between points in space-time that correspond to the autonomous machine executing the safety procedure(s) from the point and arrival times of the one or more objects to corresponding position(s) in the environment. A trajectory may be sampled and evaluated for conflicts at various points throughout the trajectory. Based on results of one or more evaluations, the trajectory may be scored, eliminated from consideration, or otherwise considered for control of the autonomous machine.

公开(公告)号：US20240217557A1

公开(公告)日：2024-07-04

申请号：US18602802

申请日：2024-03-12

Applicant: NVIDIA Corporation

Inventor： Fangkai Yang ,  David Nister ,  Yizhou Wang ,  Rotem Aviv ,  Julia Ng ,  Birgit Henke ,  Hon Leung Lee ,  Yunfei Shi

IPC: B60W60/00 ,  B60W30/18 ,  G08G1/0967

CPC classification number: B60W60/0027 ,  B60W30/18154 ,  B60W30/18159 ,  G08G1/096725 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2552/05

Abstract: In various examples, a yield scenario may be identified for a first vehicle. A wait element is received that encodes a first path for the first vehicle to traverse a yield area and a second path for a second vehicle to traverse the yield area. The first path is employed to determine a first trajectory in the yield area for the first vehicle based at least on a first location of the first vehicle at a time and the second path is employed to determine a second trajectory in the yield area for the second vehicle based at least on a second location of the second vehicle at the time. To operate the first vehicle in accordance with a wait state, it may be determined whether there is a conflict between the first trajectory and the second trajectory, where the wait state defines a yielding behavior for the first vehicle.