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：US20240116538A1

公开(公告)日：2024-04-11

申请号：US18545856

申请日：2023-12-19

Applicant: NVIDIA Corporation

Inventor： Zhenyi Zhang ,  Yizhou Wang ,  David Nister ,  Neda Cvijetic

IPC: B60W60/00 ,  B60W30/095 ,  B60W30/18 ,  B60W40/105

CPC classification number: B60W60/0011 ,  B60W30/0956 ,  B60W30/18163 ,  B60W40/105 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2552/53

Abstract: In various examples, sensor data may be collected using one or more sensors of an ego-vehicle to generate a representation of an environment surrounding the ego-vehicle. The representation may include lanes of the roadway and object locations within the lanes. The representation of the environment may be provided as input to a longitudinal speed profile identifier, which may project a plurality of longitudinal speed profile candidates onto a target lane. Each of the plurality of longitudinal speed profiles candidates may be evaluated one or more times based on one or more sets of criteria. Using scores from the evaluation, a target gap and a particular longitudinal speed profile from the longitudinal speed profile candidates may be selected. Once the longitudinal speed profile for a target gap has been determined, the system may execute a lane change maneuver according to the longitudinal speed profile.

公开(公告)号：US20210197858A1

公开(公告)日：2021-07-01

申请号：US17130667

申请日：2020-12-22

Applicant: NVIDIA Corporation

Inventor： Zhenyi Zhang ,  Yizhou Wang ,  David Nister ,  Neda Cvijetic

IPC: B60W60/00 ,  B60W30/18 ,  B60W30/095 ,  B60W40/105

Abstract: In various examples, sensor data may be collected using one or more sensors of an ego-vehicle to generate a representation of an environment surrounding the ego-vehicle. The representation may include lanes of the roadway and object locations within the lanes. The representation of the environment may be provided as input to a longitudinal speed profile identifier, which may project a plurality of longitudinal speed profile candidates onto a target lane. Each of the plurality of longitudinal speed profiles candidates may be evaluated one or more times based on one or more sets of criteria. Using scores from the evaluation, a target gap and a particular longitudinal speed profile from the longitudinal speed profile candidates may be selected. Once the longitudinal speed profile for a target gap has been determined, the system may execute a lane change maneuver according to the longitudinal speed profile.

公开(公告)号：US12077190B2

公开(公告)日：2024-09-03

申请号：US16877127

申请日：2020-05-18

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：US20210354729A1

公开(公告)日：2021-11-18

申请号：US16877127

申请日：2020-05-18

Applicant: NVIDIA Corporation

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

IPC: B60W60/00 ,  B60W30/095

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：US20210253128A1

公开(公告)日：2021-08-19

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 ,  G06N3/08 ,  G05D1/02 ,  B60W50/00

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：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：US11884294B2

公开(公告)日：2024-01-30

申请号：US17130667

申请日：2020-12-22

Applicant: NVIDIA Corporation

Inventor： Zhenyi Zhang ,  Yizhou Wang ,  David Nister ,  Neda Cvijetic

IPC: B60W60/00 ,  B60W30/18 ,  B60W30/095 ,  B60W40/105

CPC classification number: B60W60/0011 ,  B60W30/0956 ,  B60W30/18163 ,  B60W40/105 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2552/53

Abstract: In various examples, sensor data may be collected using one or more sensors of an ego-vehicle to generate a representation of an environment surrounding the ego-vehicle. The representation may include lanes of the roadway and object locations within the lanes. The representation of the environment may be provided as input to a longitudinal speed profile identifier, which may project a plurality of longitudinal speed profile candidates onto a target lane. Each of the plurality of longitudinal speed profiles candidates may be evaluated one or more times based on one or more sets of criteria. Using scores from the evaluation, a target gap and a particular longitudinal speed profile from the longitudinal speed profile candidates may be selected. Once the longitudinal speed profile for a target gap has been determined, the system may execute a lane change maneuver according to the longitudinal speed profile.