公开(公告)号：US20240336285A1

公开(公告)日：2024-10-10

申请号：US18745919

申请日：2024-06-17

Applicant: NVIDIA Corporation

Inventor： Julia Ng ,  David Nister ,  Zhenyi Zhang ,  Yizhou Wang

IPC: B60W60/00 ,  B60W30/095

CPC classification number: B60W60/00272 ,  B60W30/0953 ,  B60W60/0011 ,  B60W60/0018 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/80

Abstract: In various examples, systems and methods are disclosed for weighting one or more optional paths based on obstacle avoidance or other safety considerations. In some embodiments, the obstacle avoidance considerations may be computed using a comparison of trajectories representative of safety procedures at present and future projected time steps of an ego-vehicle and other actors to ensure that each actor is capable of implementing their respective safety procedure while avoiding collisions at any point along the trajectory. This comparison may include filtering out a path(s) of an actor at a time step(s)—e.g., using a one-dimensional lookup—based on spatial relationships between the actor and the ego-vehicle at the time step(s). Where a particular path—or point along the path—does not satisfy a collision-free standard, the path may be penalized more negatively with respect to the obstacle avoidance considerations, or may be removed from consideration as a potential path.

公开(公告)号：US20240174219A1

公开(公告)日：2024-05-30

申请号：US18432887

申请日：2024-02-05

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC: B60W30/09 ,  B60W30/095

CPC classification number: B60W30/09 ,  B60W30/095 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2520/16 ,  B60W2520/18 ,  B60W2554/00

Abstract: In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

公开(公告)号：US20250083704A1

公开(公告)日：2025-03-13

申请号：US18958669

申请日：2024-11-25

Applicant: NVIDIA Corporation

Inventor： Julia Ng ,  Sachin Pullaikudi Veedu ,  David Nister ,  Hanne Buur ,  Hans Jonas Nilsson ,  Hon Leung Lee ,  Yunfei Shi ,  Charles Jerome Vorbach, Jr.

IPC: B60W60/00 ,  B60W30/095 ,  G06F9/50

Abstract: In various examples, a safety decomposition architecture for autonomous machine applications is presented that uses two or more individual safety assessments to satisfy a higher safety integrity level (e.g., ASIL D). For example, a behavior planner may be used as a primary planning component, and a collision avoidance feature may be used as a diverse safety monitoring component—such that both may redundantly and independently prevent violation of safety goals. In addition, robustness of the system may be improved as single point and systematic failures may be avoided due to the requirement that two independent failures—e.g., of the behavior planner component and the collision avoidance component—occur simultaneously to cause a violation of the safety goals.

公开(公告)号：US11926346B2

公开(公告)日：2024-03-12

申请号：US17395318

申请日：2021-08-05

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 ,  B60W2420/42 ,  B60W2420/52 ,  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.

公开(公告)号：US20230341234A1

公开(公告)日：2023-10-26

申请号：US17725175

申请日：2022-04-20

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Hon Leung Lee ,  Yizhou Wang ,  Rotem Aviv ,  Birgit Henke ,  Julia Ng ,  Amir Akbarzadeh

IPC: G01C21/36 ,  G01C21/34 ,  B60W60/00

CPC classification number: G01C21/3658 ,  G01C21/3446 ,  G01C21/3453 ,  B60W60/001 ,  B60W2556/40

Abstract: In various examples, a lane planner for generating lane planner output data based on a state and probabilistic action space is provided. A driving system—that operates based on a hierarchical drive planning framework—includes the lane planner and other planning and control components. The lane planner processes lane planner input data (e.g., large lane graph, source node, target node) to generate lane planner output data (e.g., expected time rewards). The driving system can also include a route planner (e.g., a first planning layer) that operates to provide the lane planner input data to the lane planner. The lane planner operates as second planning layer that processes the lane planner input data based at least in part on a state and probabilistic action space of the large lane graph and calculates a time cost associated with navigating from a source node to a target node in the large lane graph.

公开(公告)号：US20210325892A1

公开(公告)日：2021-10-21

申请号：US17356337

申请日：2021-06-23

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC: G05D1/02 ,  B60W30/09 ,  G05D1/08 ,  B60W30/095

Abstract: In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

公开(公告)号：US11966228B2

公开(公告)日：2024-04-23

申请号：US18083159

申请日：2022-12-16

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC: G05D1/00 ,  B60W30/09 ,  B60W30/095

CPC classification number: G05D1/0214 ,  B60W30/09 ,  B60W30/095 ,  G05D1/0221 ,  G05D1/0223 ,  G05D1/0231 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/0289 ,  G05D1/0891 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2520/16 ,  B60W2520/18 ,  B60W2554/00

Abstract: In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

公开(公告)号：US20230124848A1

公开(公告)日：2023-04-20

申请号：US18083159

申请日：2022-12-16

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC: G05D1/02 ,  B60W30/09 ,  G05D1/08 ,  B60W30/095

Abstract: In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

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：US11079764B2

公开(公告)日：2021-08-03

申请号：US16265780

申请日：2019-02-01

Applicant: NVIDIA Corporation

Inventor： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC: G05D1/02 ,  B60W30/09 ,  G05D1/08 ,  B60W30/095

Abstract: In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.