公开(公告)号：WO2022268274A1

公开(公告)日：2022-12-29

申请号：PCT/DE2022/200136

申请日：2022-06-21

Applicant: CONTINENTAL AUTOMOTIVE TECHNOLOGIES GMBH

Inventor： STEIN, Nicolas ,  DEUSCH, Hendrik

IPC: B60W30/06 ,  B60W60/00 ,  B62D15/02 ,  G05D1/02 ,  G06N3/08 ,  B60W60/001 ,  B62D15/0285 ,  G05D1/0221 ,  G05D2201/0213 ,  G06N20/00

Abstract: Die Erfindung betrifft ein Verfahren zur Ermittlung einer Fahrtrajektorie für wiederkehrende Fahrsituationen, wobei das Verfahren die folgenden Schritte aufweist: - Abfahren einer Fahrstrecke (FS) von einer Startposition (SP) zu einer Zielposition (ZP) durch einen menschlichen Fahrer mittels eines Fahrzeugs (F) (S10); - Erfassen von Umgebungsinformationen durch eine Sensorik des Fahrzeugs (F) während des Abfahrens der Fahrstrecke (FS) (S11); - Abspeichern von Informationen zu einer befahrbaren Fahrgasse basierend auf den Umgebungsinformationen (S12); - Ermitteln einer Fahrtrajektorie basierend auf Informationen zur befahrbaren Fahrgasse mittels einer Recheneinheit des Fahrzeugs (F), die eine Strategie des bestärkenden Lernens implementiert (S13); - Abspeichern der ermittelten Fahrtrajektorie (S14).

公开(公告)号：WO2022212374A1

公开(公告)日：2022-10-06

申请号：PCT/US2022/022347

申请日：2022-03-29

Applicant: ARGO AI, LLC

Inventor： DUFRESNE, Bradley, Thomas

IPC: B60W60/00 ,  B60W40/06 ,  B60W50/00 ,  G01C21/3815 ,  G05D1/0212 ,  G05D2201/0213

Abstract: Methods, systems, and products for generating an updated map for use with an autonomous vehicle driving operation or a simulation thereof may include obtaining first map data associated with a first map of a geographic location including a roadway, and the first map data may include at least one first lane segment. Second map data associated with a second map of the geographic location may be obtained, and the second map data may include at least one second lane segment. A plurality of non-overlapping areas may be determined based on the first lane segment(s) and the second lane segment(s). A first non-overlapping and/or a first warp point within the first non-overlapping area may be selected. The first lane segment(s) may be warped around the first warp point to increase a total overlapping area based on the based on the second lane segment(s) and the first lane segment(s) after warping.

公开(公告)号：WO2021249926A1

公开(公告)日：2021-12-16

申请号：PCT/EP2021/065143

申请日：2021-06-07

Applicant: ROBERT BOSCH GMBH

Inventor： CHINNI, Krishna

IPC: G01C21/00 ,  B60W60/00 ,  G05D1/02 ,  G01S17/93 ,  G06K9/00 ,  B60W10/20 ,  B60W2530/201 ,  B60W2554/801 ,  B60W30/12 ,  B60W60/001 ,  B60W60/0027 ,  G01C21/3867 ,  G01S13/931 ,  G01S15/931 ,  G01S17/931 ,  G05D1/0238 ,  G05D1/0274 ,  G05D2201/0213 ,  G06V20/588

Abstract: A system for representing objects in a surrounding environment of a vehicle using a Frenet coordinate system. The system includes a memory and an electronic processor. The electronic processor is in communication with the memory and configured to, receive, from one or more sensors, input regarding one or more objects in the surrounding environment. The input includes, for each of the one or more objects, a representation of a location of the object in Cartesian coordinates. The electronic processor is further configured to convert the location of each object from Cartesian coordinates to Frenet coordinates and store the location of each object in Frenet coordinates in the memory.

公开(公告)号：WO2021202531A

公开(公告)日：2021-10-07

申请号：PCT/US2021/024891

申请日：2021-03-30

Applicant: UATC, LLC [US]/[US]

Inventor： TSCHANZ, Frederic ,  NAIK, Maitreya Jayesh ,  YANAKIEV, Diana ,  GREENFIELD, Aaron L. ,  POEPPEL, Scott C.

IPC: B60W50/00 ,  B60W60/00 ,  B60W2050/0006 ,  B60W2050/0082 ,  B60W50/0098 ,  B60W60/0051 ,  B60W60/0053 ,  G05D1/0061 ,  G05D1/0088 ,  G05D1/0276 ,  G05D2201/0213

Abstract: The present disclosure is directed to controlling state transitions in an autonomous vehicle. In particular, a computing system can initiate the autonomous vehicle into a no-authorization state upon startup. The computing system can receive an authorization request. The computing system determines whether the authorization request includes a request to enter the first or second mode of operations, wherein the first mode of operations is associated with the autonomous vehicle being operated without a human operator and the second mode of operations is associated with the autonomous vehicle being operable by a human operator. The computing system can transition the autonomous vehicle from the no-authorization state into a standby state in response to determining the authorization request includes a request to enter the first mode of operations or into a manual-controlled state in response to determining the authorization request is a request to enter the second mode of operations.

公开(公告)号：WO2021145223A1

公开(公告)日：2021-07-22

申请号：PCT/JP2020/049304

申请日：2020-12-24

Applicant: MITSUBISHI ELECTRIC CORPORATION

Inventor： QUIRYNEN, Rien ,  BERNTORP, Karl ,  DI CAIRANO, Stefano

IPC: G05D1/02 ,  G01C21/00 ,  B60W60/00 ,  B60W2050/0014 ,  B60W2050/0028 ,  B60W2400/00 ,  B60W30/18 ,  B60W50/0097 ,  B60W60/001 ,  G05B17/02 ,  G05D1/0088 ,  G05D1/0217 ,  G05D2201/0213

Abstract: A control system controls a vehicle using a probabilistic motion planner and an adaptive predictive controller. The probabilistic motion planner produces a sequence of parametric probability distributions over a sequence of target states for the vehicle with parameters defining a first and higher order moments. The adaptive predictive controller optimizes a cost function over a prediction horizon to produce a sequence of control commands to one or multiple actuators of the vehicle. The cost function balances a cost of tracking of different state variables in the sequence of the target states defined by the first moments. The balancing is performed by weighting different state variables using one or multiple of the higher order moments of the probability distribution.

公开(公告)号：WO2021133745A1

公开(公告)日：2021-07-01

申请号：PCT/US2020/066487

申请日：2020-12-21

Applicant: LYFT, INC.

Inventor： OMARI, Sammy ,  RUFINO FERREIRA, Ana, Sofia

IPC: B60W50/00 ,  B60W30/10 ,  B60W40/10 ,  B60W30/18 ,  G05D1/0088 ,  G05D1/0212 ,  G05D2201/0212 ,  G05D2201/0213 ,  G06N7/005

Abstract: In one embodiment, a method includes accessing sensor data associated with an environment of the vehicle; identifying agents in the environment based on the sensor data; determining a probability distribution indicative of whether a preliminary trajectory of each of the agents intersects a potential travel space of the vehicle; generating a prioritization of the agents based on the probability distribution; allocating an amount of computing resources of the vehicle for analyzing each of one or more of the agents based on the prioritization and characteristics of the respective one or more agents; and predicting a trajectory of one or more of the agents according to the allocated computing resources. An accuracy of the prediction is proportional to the amount of allocated computing resources. The method also includes determining, based on the analysis of the agents, one or more operations for the vehicle to perform.

公开(公告)号：WO2021122857A1

公开(公告)日：2021-06-24

申请号：PCT/EP2020/086588

申请日：2020-12-16

Applicant: KONTROL GMBH

Inventor： NADERHIRN, Michael

IPC: G05D1/02 ,  B60W30/00 ,  G01C21/00 ,  G01C21/3407 ,  G05D1/0214 ,  G05D2201/0213

Abstract: A method for controlling mechatronic systems is described herein. In accordance with one embodiment the method includes planning a nominal path for a mechatronic system using an automatic path planner, receiving information concerning one or more objects detected in the surrounding environment of the mechatronic system and calculating one or more occupancy sets corresponding to the one or more detected objects, and detecting whether the nominal path violates at least one of the one or more Occupancy Sets. In one embodiment, the occupancy sets may represent theoretic system states of the mechatronic system which are potentially occupied by the stationary and dynamic objects at a specific time. Furthermore, a corresponding control system is described.

公开(公告)号：WO2022243687A1

公开(公告)日：2022-11-24

申请号：PCT/GB2022/051264

申请日：2022-05-19

Applicant: TEVVA MOTORS LTD

Inventor： BENNETT, Asher ,  LIDSTONE-SCOTT, Richard

IPC: H04W4/70 ,  B60W60/00 ,  G05D1/02 ,  B60K2370/55 ,  B60W2300/12 ,  B60W2300/40 ,  B60W2420/42 ,  B60W2540/041 ,  B60W2540/215 ,  B60W50/10 ,  B60W60/001 ,  B60W60/0018 ,  B60W60/00256 ,  B60W60/0051 ,  B60Y2200/14 ,  B60Y2200/86 ,  G05D1/0016 ,  G05D1/0088 ,  G05D2201/0213 ,  H04W4/40

Abstract: In a first aspect, this specification describes a method which comprises receiving (400), at a stationary vehicle (110), a user input to cause the vehicle (110) to enter an autonomous mode; highlighting, by a portable user device (120), subsequent to the vehicle (110) entering the autonomous mode and prior to the vehicle (110) moving, a target location; receiving (410), by the vehicle (110), an indication of the target location and a request to travel to the target location; and causing the vehicle (110) to autonomously travel (430) to the target location without human supervision.

公开(公告)号：WO2022103906A2

公开(公告)日：2022-05-19

申请号：PCT/US2021/058880

申请日：2021-11-11

Applicant: CUMMINS INC. ,  COMPAGNIE GENERALE DES ETABLISSEMENTS MICHELIN

Inventor： BORHAN, Hoseinali ,  LIU, Jingxuan ,  PATTEL, Bibin N. ,  RADULESCU, Robert Ciprian

IPC: G05D1/02 ,  B60T7/00 ,  G08G1/00 ,  B60T2201/02 ,  B60T7/22 ,  B60W30/165 ,  G05D1/0293 ,  G05D2201/0213 ,  G08G1/22

Abstract: A method of operating an electronic control system of a vehicle includes determining a first braking distance to achieve a first speed of a first vehicle, receiving a second vehicle braking distance to achieve a second vehicle speed of a second vehicle forward of the first vehicle, determining a minimum following distance between the first vehicle and the second vehicle in response to the first braking distance and the second braking distance, and controlling operation of the vehicle with an autonomous control system using the minimum following distance. A computer-implemented fleet management system is configured to receive logistics objectives including load, timeline, and cost information for a freight delivery, receive fleet information including tire parameters of a plurality of vehicles of a fleet, and determine a plurality of trips and a corresponding vehicle selection in response to the logistics objectives and the fleet information.

公开(公告)号：WO2022090512A2

公开(公告)日：2022-05-05

申请号：PCT/EP2021/080206

申请日：2021-10-29

Applicant: FIVE AI LIMITED

Inventor： EIRAS, Francisco ,  HAWASLY, Majd ,  RAMAMOORTHY, Subramanian

IPC: G05D1/02 ,  G01C21/00 ,  G08G1/00 ,  G06F11/36 ,  G08G1/16 ,  G05D1/0214 ,  G05D2201/0213 ,  G06F11/3692

Abstract: A computer-implemented method of evaluating the performance of a target planner for an ego robot in a real or simulated scenario, the method comprising: receiving evaluation data for evaluating the performance of the target planner in the scenario, the evaluation data generated by applying the target planner at incrementing planning steps, in order to compute a series of ego plans that respond to changes in the scenario, the series of ego plans being implemented in the scenario to cause changes in an ego state the evaluation data comprising: the ego plan computed by the target planner at one of the planning steps, and a scenario state at a time instant of the scenario, wherein the evaluation data is used to evaluate the target planner by: computing a reference plan for said time instant based on the scenario state, the scenario state including the ego state at that time instant as caused by implementing one or more preceding ego plans of the series of ego plans computed by the target planner, and computing at least one evaluation score for comparing the ego plan with the reference plan.