-
公开(公告)号：US11829275B2
公开(公告)日：2023-11-28
申请号：US16570654
申请日：2019-09-13
申请人： TOYOTA RESEARCH INSTITUTE, INC. , THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
IPC分类号： G06F11/34
CPC分类号： G06F11/3461
摘要： Systems and methods for generating and evaluating driving scenarios with varying difficulty levels is provided. The disclosed systems and methods may be used to develop a suite of regression tests that track the progress of an autonomous driving stack. A robustness trace of a temporal logic formula may be computed from an always-eventually fragment using a computation graph. The robustness trace may be approximated by a smoothly differentiable computation graph, which can be implemented in existing machine learning programming frameworks. The systems and methods provided herein may be useful in automatic test case generation for autonomous or semi-autonomous vehicles.
-
公开(公告)号：US20220204030A1
公开(公告)日：2022-06-30
申请号：US17139105
申请日：2020-12-31
申请人： Toyota Research Institute, Inc. , The Board of Trustees of the Leland Stanford Junior University
IPC分类号： B60W60/00 , B60W30/095 , B60W30/09 , G06K9/00
摘要： System, methods, and other embodiments described herein relate to improving controls in a device according to risk. In one embodiment, a method includes, in response to receiving sensor data about a surrounding environment of the device, identifying objects from the sensor data that are present in the surrounding environment. The method includes generating a control sequence for controlling the device according to a risk-sensitivity parameter to navigate toward a destination while considering risk associated with encountering the objects defined by the risk-sensitivity parameter. The method includes controlling the device according to the control sequence.
-
公开(公告)号：US12061480B2
公开(公告)日：2024-08-13
申请号：US17228165
申请日：2021-04-12
申请人： Toyota Research Institute, Inc. , The Board of Trustees of the Leland Stanford Junior University
发明人： Boris Ivanovic , Amine Elhafsi , Guy Rosman , Adrien David Gaidon , Marco Pavone
IPC分类号： G05D1/00 , G06F18/214 , G06N3/08
CPC分类号： G05D1/0221 , G05D1/0088 , G05D1/0219 , G05D1/0223 , G05D1/024 , G06F18/214 , G06N3/08
摘要： A mobile robot can be caused to move according to a planned trajectory. The mobile robot can be a vehicle. Information about agents in an environment of the mobile robot can be received from sensors. At a first time, a spatiotemporal graph can be produced. The spatiotemporal graph can represent relationships among the agents in the environment. The mobile robot can be one of the agents in the environment. Information from the spatiotemporal graph can be input to neural networks to produce information for a mixture of affine time-varying systems. The mixture of affine time-varying systems can represent an evolution of agent states of the agents. Using the mixture of affine time-varying systems and information associated with the first time, a prediction of the agent states at a second time can be calculated. The mobile robot can be caused to move according to the planned trajectory determined from the prediction.
-
公开(公告)号：US11807267B2
公开(公告)日：2023-11-07
申请号：US17139105
申请日：2020-12-31
申请人： Toyota Research Institute, Inc. , The Board of Trustees of the Leland Stanford Junior University
IPC分类号： B60W60/00 , B60W30/09 , B60W30/095 , G06V20/58
CPC分类号： B60W60/0011 , B60W30/09 , B60W30/0956 , B60W60/00274 , G06V20/58 , B60W2554/80
摘要： Systems, methods, and other embodiments described herein relate to improving controls in a device according to risk. In one embodiment, a method includes, in response to receiving sensor data about a surrounding environment of the device, identifying objects from the sensor data that are present in the surrounding environment. The method includes generating a control sequence for controlling the device according to a risk-sensitivity parameter to navigate toward a destination while considering risk associated with encountering the objects defined by the risk-sensitivity parameter. The method includes controlling the device according to the control sequence.
-
公开(公告)号：US20220066460A1
公开(公告)日：2022-03-03
申请号：US17228165
申请日：2021-04-12
申请人： Toyota Research Institute, Inc. , The Board of Trustees of the Leland Stanford Junior University
发明人： Boris Ivanovic , Amine Elhafsi , Guy Rosman , Adrien David Gaidon , Marco Pavone
摘要： A mobile robot can be caused to move according to a planned trajectory. The mobile robot can be a vehicle. Information about agents in an environment of the mobile robot can be received from sensors. At a first time, a spatiotemporal graph can be produced. The spatiotemporal graph can represent relationships among the agents in the environment. The mobile robot can be one of the agents in the environment. Information from the spatiotemporal graph can be input to neural networks to produce information for a mixture of affine time-varying systems. The mixture of affine time-varying systems can represent an evolution of agent states of the agents. Using the mixture of affine time-varying systems and information associated with the first time, a prediction of the agent states at a second time can be calculated. The mobile robot can be caused to move according to the planned trajectory determined from the prediction.
-
公开(公告)号：US11887317B2
公开(公告)日：2024-01-30
申请号：US17460776
申请日：2021-08-30
IPC分类号： G06T7/277 , G06T7/70 , B60W10/18 , B60W10/20 , B60W10/04 , G08G1/01 , B60W40/04 , G06N3/044 , G06N3/045
CPC分类号： G06T7/277 , B60W10/04 , B60W10/18 , B60W10/20 , B60W40/04 , G06N3/044 , G06N3/045 , G06T7/70 , G08G1/0112 , G08G1/0116 , G06T2207/20081 , G06T2207/20084 , G06T2207/30252
摘要： A plurality of agent locations can be determined at a plurality of time steps by inputting a plurality of images to a perception algorithm that inputs the plurality of images and outputs agent labels and the agent locations. A plurality of first uncertainties corresponding to the agent locations can be determined at the plurality of time steps by inputting the plurality of agent locations to a filter algorithm that inputs the agent locations and outputs the plurality of first uncertainties corresponding to the plurality of agent locations. A plurality of predicted agent trajectories and potential trajectories corresponding to the predicted agent trajectories can be determined by inputting the plurality of agent locations at the plurality of time steps and the first uncertainties corresponding to the agent locations at the plurality of time steps to a variational autoencoder. The plurality of predicted agent trajectories and the potential trajectories corresponding to the predicted agent trajectories can be output.
-
公开(公告)号：US20230074293A1
公开(公告)日：2023-03-09
申请号：US17460776
申请日：2021-08-30
摘要： A plurality of agent locations can be determined at a plurality of time steps by inputting a plurality of images to a perception algorithm that inputs the plurality of images and outputs agent labels and the agent locations. A plurality of first uncertainties corresponding to the agent locations can be determined at the plurality of time steps by inputting the plurality of agent locations to a filter algorithm that inputs the agent locations and outputs the plurality of first uncertainties corresponding to the plurality of agent locations. A plurality of predicted agent trajectories and potential trajectories corresponding to the predicted agent trajectories can be determined by inputting the plurality of agent locations at the plurality of time steps and the first uncertainties corresponding to the agent locations at the plurality of time steps to a variational autoencoder. The plurality of predicted agent trajectories and the potential trajectories corresponding to the predicted agent trajectories can be output.
-
-
-
-
-
-
搜索结果
7 条记录 (耗时 0.03 秒)
