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公开(公告)号：US11635763B2
公开(公告)日：2023-04-25
申请号：US16804554
申请日：2020-02-28
摘要： A first method includes identifying an occlusion in the vehicle transportation network; identifying, for a first world object that is on a first side of the occlusion, a visibility grid on a second side of the occlusion; and altering a driving behavior of the first vehicle based on the visibility grid. The visibility grid is used in determining whether other world objects exist on the second side of the occlusion. A second includes identifying a first trajectory of a first world object in the vehicle transportation network; identifying a visibility grid of the first world object; identifying, using the visibility grid, a second world object that is invisible to the first world object; and, in response to determining that the first world object is predicted to collide with the second world object, alerting at least one of the first world object or the second world object.
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公开(公告)号：US11377123B2
公开(公告)日：2022-07-05
申请号：US16761596
申请日：2017-12-22
发明人： Ali Mortazavi , Atsuhide Kobashi , Liam Pedersen
摘要： Methods and systems for controlling a vehicle are herein disclosed. A method includes receiving vehicle data and external data from a vehicle control system of a vehicle and generating an environment representation of an area of the transportation network proximate to the vehicle location. The method includes displaying the environment representation in a GUI and receiving a solution path via the graphical user interface, the solution path indicating a route and one or more stop points. The method includes transmitting the route to the vehicle including a respective geolocation of each of the one or more stop points. The vehicle receives the route and begins traversing the transportation network based on the solution path. The method includes receiving updated vehicle data and/or updated external data from the vehicle and updating the environment representation based thereon. The method includes displaying, the updated environment representation via the graphical user interface.
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公开(公告)号：US20200269877A1
公开(公告)日：2020-08-27
申请号：US16761596
申请日：2017-12-22
发明人： Ali Mortazavi , Atsuhide Kobashi , Liam Pedersen
摘要： Methods and systems for controlling a vehicle are herein disclosed. A method includes receiving vehicle data and external data from a vehicle control system of a vehicle and generating an environment representation of an area of the transportation network proximate to the vehicle location. The method includes displaying the environment representation in a GUI and receiving a solution path via the graphical user interface, the solution path indicating a route and one or more stop points. The method includes transmitting the route to the vehicle including a respective geolocation of each of the one or more stop points. The vehicle receives the route and begins traversing the transportation network based on the solution path. The method includes receiving updated vehicle data and/or updated external data from the vehicle and updating the environment representation based thereon. The method includes displaying, the updated environment representation via the graphical user interface.
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公开(公告)号：US11274936B2
公开(公告)日：2022-03-15
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：US20210271249A1
公开(公告)日：2021-09-02
申请号：US16804554
申请日：2020-02-28
摘要： A first method includes identifying an occlusion in the vehicle transportation network; identifying, for a first world object that is on a first side of the occlusion, a visibility grid on a second side of the occlusion; and altering a driving behavior of the first vehicle based on the visibility grid. The visibility grid is used in determining whether other world objects exist on the second side of the occlusion. A second includes identifying a first trajectory of a first world object in the vehicle transportation network; identifying a visibility grid of the first world object; identifying, using the visibility grid, a second world object that is invisible to the first world object; and, in response to determining that the first world object is predicted to collide with the second world object, alerting at least one of the first world object or the second world object.
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公开(公告)号：US20210031760A1
公开(公告)日：2021-02-04
申请号：US16528204
申请日：2019-07-31
IPC分类号： B60W30/09 , B60W30/095 , B60W40/06 , G05D1/02 , G05D1/00
摘要： A method for contingency planning for an autonomous vehicle (AV) includes determining a nominal trajectory for the AV; detecting a hazard object that does not intrude into a path of the AV at a time of the detecting the hazard object; determining a hazard zone for the hazard object; determining a time of arrival of the AV at the hazard zone; determining a contingency trajectory for the AV; controlling the AV according to the contingency trajectory; and, in response to the hazard object intruding into the path of the AV, controlling the AV to perform a maneuver to avoid the hazard object. The contingency trajectory includes at least one of a lateral contingency or a longitudinal contingency. The contingency trajectory is determined using the time of arrival of the AV at the hazard zone.
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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：US11460841B2
公开(公告)日：2022-10-04
申请号：US16969080
申请日：2019-02-21
申请人： Nissan North America, Inc. , United States of America as Represented by the Administrator of NASA , Renault S.A.S.
摘要： An apparatus for remote support of autonomous operation of a vehicle includes a processor that is configured to perform a method including receiving, from a vehicle traversing a driving route from a start point to an end point at a destination, an assistance request signal identifying an inability of the vehicle at the destination to reach the end point, generating a first map display including a representation of a geographical area and the vehicle within the geographical area, receiving, from the vehicle, sensor data from one or more sensing devices of the vehicle, generating a remote support interface including the first map display and the sensor data, and transmitting instruction data to the vehicle that includes an alternative end point at the destination responsive to an input signal provided to the remote support interface.
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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：US20210034050A1
公开(公告)日：2021-02-04
申请号：US16969080
申请日：2019-02-21
申请人： Nissan North America, Inc. , United States of America as Represented by the Administrator of NASA , Renault S.A.S.
摘要： An apparatus for remote support of autonomous operation of a vehicle includes a processor that is configured to perform a method including receiving, from a vehicle traversing a driving route from a start point to an end point at a destination, an assistance request signal identifying an inability of the vehicle at the destination to reach the end point, generating a first map display including a representation of a geographical area and the vehicle within the geographical area, receiving, from the vehicle, sensor data from one or more sensing devices of the vehicle, generating a remote support interface including the first map display and the sensor data, and transmitting instruction data to the vehicle that includes an alternative end point at the destination responsive to an input signal provided to the remote support interface.
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