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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：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：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：US11215987B2
公开(公告)日：2022-01-04
申请号：US16427742
申请日：2019-05-31
发明人： Christopher Ostafew , Astha Vagadia , Najamuddin Baig , Viju James , Stefan Witwicki , Shlomo Zilberstein
IPC分类号： G05D1/00
摘要： Resolving an exception situation in autonomous driving includes receiving an assistance request to resolve the exception situation from an autonomous vehicle (AV); identifying a solution to the exception situation; forwarding the solution to a tele-operator; receiving a request for playback data from the tele-operator; receiving, from the AV, the playback data; and obtaining, from the tele-operator, a validated solution based on the tele-operator using the playback data. The playback data includes snapshots ni of data related to autonomous driving stored at the AV at respective consecutive times ti, for i=1, . . . , N.
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公开(公告)号：US20200379457A1
公开(公告)日：2020-12-03
申请号：US16427742
申请日：2019-05-31
发明人： Christopher Ostafew , Astha Vagadia , Najamuddin Baig , Viju James , Stefan Witwicki , Shlomo Zilberstein
IPC分类号： G05D1/00
摘要： Resolving an exception situation in autonomous driving includes receiving an assistance request to resolve the exception situation from an autonomous vehicle (AV); identifying a solution to the exception situation; forwarding the solution to a tele-operator; receiving a request for playback data from the tele-operator; receiving, from the AV, the playback data; and obtaining, from the tele-operator, a validated solution based on the tele-operator using the playback data. The playback data includes snapshots ni of data related to autonomous driving stored at the AV at respective consecutive times ti, for i=1, . . . , N.
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公开(公告)号：US10698407B2
公开(公告)日：2020-06-30
申请号：US16019291
申请日：2018-06-26
发明人： Christopher Ostafew
摘要： Trajectory planning for an autonomous vehicle is disclosed. A method for planning a trajectory for an autonomous vehicle includes determining a coarse driveline from a first location to a second location; determining a strategic speed plan for the coarse driveline; removing lateral discontinuities in the coarse driveline based on the strategic speed plan to generate an adjusted coarse driveline; and generating lateral constraints around the adjusted coarse driveline and a discrete-time speed plan based on observed objects.
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公开(公告)号：US20190367021A1
公开(公告)日：2019-12-05
申请号：US16146579
申请日：2018-09-28
发明人： Yue Zhao , Christopher Ostafew
摘要： World objects tracking and prediction by an autonomous vehicle (AV) is disclosed. A method includes identifying, based on first observation data received from sensors of the AV, an oncoming vehicle; identifying, based on second observation data received from the sensors of the AV, a road object; generating a lane-following hypothesis for the oncoming vehicle, the lane-following hypothesis indicating an intention that the oncoming vehicle remain in a current road lane; computing a lane-following reference driveline for the lane-following hypothesis of the oncoming vehicle; in response to determining that the lane-following reference driveline is blocked by the road object, generating a go-around hypothesis for the oncoming vehicle, and computing a go-around reference driveline for the go-around hypothesis; and providing at least one of a go-around trajectory corresponding to the go-around hypothesis or a lane-following trajectory corresponding to the lane-following hypothesis.
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