公开(公告)号：US12013457B2

公开(公告)日：2024-06-18

申请号：US17150590

申请日：2021-01-15

申请人： UATC, LLC

发明人： Raquel Urtasun ,  Bin Yang ,  Ming Liang ,  Sergio Casas ,  Runsheng Benson Guo

IPC分类号： G01S13/86 ,  G01S7/41 ,  G01S13/58 ,  G01S17/89 ,  G01S17/931 ,  G06F18/22 ,  G06F18/2433 ,  G06F18/25 ,  G06N3/044 ,  G06N3/045 ,  G06N20/00 ,  G06V10/74 ,  G06V10/80 ,  G06V10/84 ,  G06V20/58

CPC分类号： G01S13/865 ,  G01S7/417 ,  G01S13/589 ,  G01S17/89 ,  G01S17/931 ,  G06F18/22 ,  G06F18/2433 ,  G06F18/251 ,  G06N3/045 ,  G06N20/00 ,  G06V10/761 ,  G06V10/803 ,  G06V10/84 ,  G06V20/58 ,  G06N3/044

摘要： Systems and methods for integrating radar and LIDAR data are disclosed. In particular, a computing system can access radar sensor data and LIDAR data for the area around the autonomous vehicle. The computing system can determine, using the one or more machine-learned models, one or more objects in the area of the autonomous vehicle. The computing system can, for a respective object, select a plurality of radar points from the radar sensor data. The computing system can generate a similarity score for each selected radar point. The computing system can generate weight associated with each radar point based on the similarity score. The computing system can calculate predicted velocity for the respective object based on a weighted average of a plurality of velocities associated with the plurality of radar points. The computing system can generate a proposed motion plan based on the predicted velocity for the respective object.

公开(公告)号：US20210278523A1

公开(公告)日：2021-09-09

申请号：US17150590

申请日：2021-01-15

申请人： UATC, LLC

发明人： Raquel Urtasun ,  Bin Yang ,  Ming Liang ,  Sergio Casas ,  Runsheng Benson Guo

IPC分类号： G01S13/86 ,  G01S17/89 ,  G01S13/58 ,  G06K9/62 ,  G06N20/00

摘要： Systems and methods for integrating radar and LIDAR data are disclosed. In particular, a computing system can access radar sensor data and LIDAR data for the area around the autonomous vehicle. The computing system can determine, using the one or more machine-learned models, one or more objects in the area of the autonomous vehicle. The computing system can, for a respective object, select a plurality of radar points from the radar sensor data. The computing system can generate a similarity score for each selected radar point. The computing system can generate weight associated with each radar point based on the similarity score. The computing system can calculate predicted velocity for the respective object based on a weighted average of a plurality of velocities associated with the plurality of radar points. The computing system can generate a proposed motion plan based on the predicted velocity for the respective object.