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公开(公告)号：US20210086795A1
公开(公告)日：2021-03-25
申请号：US17048904
申请日：2018-05-31
发明人： Yue Zhao , Christopher Ostafew , Ali Mortazavi , Liam Pedersen
摘要： World objects tracking and prediction by an autonomous vehicle is disclosed. A method includes receiving, from sensors of the AV, a first observation data; associating the first observation data with a first world object; determining hypotheses for the first world object, wherein a hypothesis corresponds to an intention of the first world object; determining a respective hypothesis likelihood of each of the hypotheses indicating a likelihood that the first world object follows the intention; determining, for at least one hypothesis of the hypotheses, a respective state, wherein the respective state comprises predicted positions of the first world object; and in response to a query, providing a hypothesis of the hypotheses based on the respective hypothesis likelihood of each of the hypotheses.
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公开(公告)号：US20210001882A1
公开(公告)日：2021-01-07
申请号：US16971153
申请日：2018-02-28
发明人： Ali Mortazavi , Maarten Sierhuis , Liam Pedersen
摘要： According to some implementations of the present disclosure, a method for controlling an autonomous vehicle is disclosed. The method includes traversing the transportation network in accordance with a route and receiving vehicle sensor data from one or more vehicle sensors of the autonomous vehicle. The method also includes determining that the autonomous vehicle has encountered an occlusion scenario based on the vehicle sensor data. In response to determining that the autonomous vehicle has encountered the occlusion scenario, the method includes transmitting a request for infrastructure data to an external resource via a communication network, receiving infrastructure data from the external resource, determining a control action for the autonomous vehicle to perform based on the infrastructure data and the vehicle sensor data, and controlling the autonomous vehicle based on the control action.
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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：US10994748B2
公开(公告)日：2021-05-04
申请号：US16971153
申请日：2018-02-28
发明人： Ali Mortazavi , Maarten Sierhuis , Liam Pedersen
摘要： According to some implementations of the present disclosure, a method for controlling an autonomous vehicle is disclosed. The method includes traversing the transportation network in accordance with a route and receiving vehicle sensor data from one or more vehicle sensors of the autonomous vehicle. The method also includes determining that the autonomous vehicle has encountered an occlusion scenario based on the vehicle sensor data. In response to determining that the autonomous vehicle has encountered the occlusion scenario, the method includes transmitting a request for infrastructure data to an external resource via a communication network, receiving infrastructure data from the external resource, determining a control action for the autonomous vehicle to perform based on the infrastructure data and the vehicle sensor data, and controlling the autonomous vehicle based on the control action.
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公开(公告)号：US20210125500A1
公开(公告)日：2021-04-29
申请号：US16965500
申请日：2018-01-31
发明人： Ali Mortazavi , Liam Pedersen , Maarten Sierhuis
IPC分类号： G08G1/00 , G08G1/01 , G08G1/0968 , G08G1/0967
摘要： Batch routing of autonomous vehicles is disclosed. A method may include maintaining a plurality of vehicle state data object instances that respectively correspond to a plurality of autonomous vehicles. The method includes obtaining a traffic condition location and determining a group of autonomous vehicles from the plurality of autonomous vehicles where the current route of each autonomous vehicle intersects the traffic condition location. The method also includes determining two or more subgroups of autonomous In vehicles, and for each subgroup, determining a respective avoidance waypoint corresponding to the subgroup that is not on the current route of the autonomous vehicle. For each autonomous vehicle in the subgroup, the method includes determining an updated route based on the current route of the autonomous vehicle and the respective avoidance waypoint, generating a control instruction based on the updated route, and transmitting the control instruction to the autonomous vehicle.
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公开(公告)号：US20200310417A1
公开(公告)日：2020-10-01
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：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：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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10.发明公开公开(公告)号：US20240253628A1
公开(公告)日：2024-08-01
申请号：US18162329
申请日：2023-01-31
IPC分类号： B60W30/16
CPC分类号： B60W30/16 , B60W2050/0026 , B60W2050/0075 , B60W2554/80 , B60W2720/106
摘要： An inversion controller of a vehicle receives a desired acceleration. The inversion controller includes a model of operations of a cruise control module of the vehicle. The inversion controller obtains a cruise control parameter based on the desired acceleration. The inversion controller outputs to the cruise control module the cruise control parameter. The cruise control module is configured to maintain the cruise control parameter for the vehicle.
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