公开(公告)号：WO2021191102A1

公开(公告)日：2021-09-30

申请号：PCT/EP2021/057177

申请日：2021-03-22

Applicant: VALEO SCHALTER UND SENSOREN GMBH

Inventor： FERNANDEZ, Sergio ,  PFRANG, Christoph ,  TRUSOV, Viktor ,  BASSIOUNY, Ali

IPC: G06K9/00 ,  G01S17/10 ,  G01S17/931 ,  G01S7/4802 ,  G01S7/487 ,  G06K9/0055 ,  G06K9/00791

Abstract: Gemäß einem Verfahren zur Objekterkennung durch ein aktives optisches Sensorsystem (2) wird mittels einer Detektoreinheit (2b) von einem Objekt (4) reflektiertes Licht (3b) erfasst und basierend darauf ein Sensorsignal (5a, 5b, 5c, 5d, 5e, 5f) erzeugt. Mittels einer Recheneinheit (2c) wird eine erste Pulsweite (D1) bestimmt, die durch einen vorgegebenen ersten Grenzwert (G1) für eine Amplitude des Sensorsignals (5a, 5b, 5c, 5d, 5e, 5f) festgelegt ist und eine zweite Pulsweite (D2), die durch einen vorgegebenen zweiten Grenzwert (G2) festgelegt ist. Der Signalpuls wird abhängig von wenigstens einem vordefinierten Parameter des Signalpulses einer von wenigstens zwei Kategorien zugeordnet und eine Punktwolke zur Objekterkennung wird erzeugt, die für den Signalpuls genau einen Eintrag enthält, wobei der Eintrag abhängig von der Kategorie des Signalpulses entweder der ersten Pulsweite (D1) oder der zweite Pulsweite (D2) entspricht.

公开(公告)号：WO2021148164A1

公开(公告)日：2021-07-29

申请号：PCT/EP2020/083051

申请日：2020-11-23

Applicant: BAYERISCHE MOTOREN WERKE AKTIENGESELLSCHAFT

Inventor： HEIDEN, Tessa ,  WEISS, Christian

IPC: G06T11/00 ,  G06K9/00 ,  G06K9/00791 ,  G06K9/6256

Abstract: Ein Aspekt der Erfindung betrifft eine Vorrichtung zum Erzeugen einer von einer ersten Sicht-Information abhängigen ersten Draufsicht auf ein Kraftfahrzeug aus zumindest einem Bild von zumindest einer Kamera, deren optische Achse im Wesentlichen parallel zu einer Ebene ist, die aus der Fahrzeuglängsrichtung und der Fahrzeugquerrichtung aufgespannt ist.

公开(公告)号：WO2021134039A1

公开(公告)日：2021-07-01

申请号：PCT/US2020/067059

申请日：2020-12-26

Applicant: WAYMO LLC

Inventor： WATSON, Jason ,  GASSEND, Blaise

IPC: G01S7/497 ,  G01S7/481 ,  G01S17/89 ,  G01S17/931 ,  G02B26/08 ,  G02B27/00 ,  H04N7/18 ,  G06K9/00791 ,  G06T2207/10016 ,  G06T2207/10048 ,  G06T7/246

Abstract: The present disclosure relates to systems and methods for occlusion detection. An example system includes a primary reflective surface and a rotatable mirror configured to rotate about a rotational axis. The rotatable mirror includes a plurality of secondary reflective surfaces. The system also includes an optical element and a camera that is configured to capture at least one image of the optical element by way of the primary reflective surface and at least one secondary reflective surface of the rotatable mirror.

公开(公告)号：WO2021227313A1

公开(公告)日：2021-11-18

申请号：PCT/CN2020/114361

申请日：2020-09-10

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： NABATCHIAN, Amirhosein ,  TAGHAVI, Ehsan

IPC: G01C21/20 ,  G05D1/02 ,  B60W2556/50 ,  B60W60/001 ,  G01S17/42 ,  G01S17/931 ,  G05D1/0221 ,  G05D1/0278 ,  G06K9/00791 ,  G06K9/03 ,  G06K9/46 ,  G06K9/6256 ,  G06K9/6288 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30241 ,  G06T2207/30252 ,  G06T7/20

Abstract: A system and method for generating an importance occupancy grid map (OGM) for a vehicle are disclosed. The method includes: receiving a three-dimensional (3D) point cloud; receiving a binary map, the binary map associated with a set of GPS coordinates of the vehicle; receiving information representative of a planned path for the vehicle; and generating an importance OGM based on the 3D point cloud, the binary map, and the planned path for the vehicle using a map generation module.

公开(公告)号：WO2021194657A1

公开(公告)日：2021-09-30

申请号：PCT/US2021/018249

申请日：2021-02-16

Applicant: UATC, LLC

Inventor： FETTER, Jacob

IPC: H04W4/024 ,  H04W4/40 ,  B60R25/01 ,  G01S5/18 ,  B60W60/001 ,  G06K9/00791 ,  G07C2009/00412 ,  G07C2009/0042 ,  G07C9/00309

Abstract: In some examples, a control system for a vehicle can detect a set of ultrasonic signals generated by a mobile computing device of a user. Additionally, the control system can determine a pin code from the set of ultrasonic signals. Moreover, the control system can perform one or more vehicle operations to initiate fulfillment of a transport request that is associated with the determined pin code, upon the user being determined to be within a given proximity distance of the vehicle.

公开(公告)号：WO2021136967A2

公开(公告)日：2021-07-08

申请号：PCT/IB2020/001092

申请日：2020-12-31

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： SHAMBIK, Yaakov ,  CHITRIT, Ohad ,  SACHTER, Michael ,  NETSER, Alon

IPC: G01C21/16 ,  G01C21/36 ,  G05D1/02 ,  G06K9/00 ,  B60W2420/42 ,  B60W2552/10 ,  B60W2556/50 ,  B60W60/001 ,  G01C21/1656 ,  G01C21/3602 ,  G06K9/00791 ,  G06K9/6289

Abstract: Systems and methods are provided for vehicle navigation. In one implementation, a navigation system for a host vehicle may comprise at least one processor. The processor may be programmed to receive from a camera onboard the host vehicle a plurality of captured images representative of an environment of the host vehicle. The processor may provide each of the plurality of captured images to a target object analysis module including at least one trained model configured to generate an output for each of the plurality of captured image. The processor may receive from the target object analysis module the generated output. The processor may further determine at least one navigational action to be taken by the host vehicle based on the output generated by the target object analysis module. The processor may cause the at least one navigational action to be taken by the host vehicle.

公开(公告)号：WO2021121489A1

公开(公告)日：2021-06-24

申请号：PCT/DE2020/200110

申请日：2020-12-08

Applicant: CONTI TEMIC MICROELECTRONIC GMBH

Inventor： PFITZER, Martin ,  HEINRICH, Stefan ,  DU BOIS, Manuel ,  HACHFELD, Felix ,  STRIGEL, Elias

IPC: G06K9/00 ,  G06K9/34 ,  G06K9/46 ,  G06K9/00369 ,  G06K9/00791 ,  G06K9/342 ,  G06K9/4604

Abstract: Die Erfindung betrifft ein Verfahren zur verbesserten Erkennung von Landmarken und Fußgängern (1) mit den folgenden Schritten: - Aufnehmen (S1) eines Umgebungsbildes (7) mittels zumindest eines Umfelderfassungssensors eines Fahrzeugs; - Durchführen (S2) einer Konturfindung in dem Umgebungsbild (7) zum Erkennen eines Fußgängers - Ausschneiden (S3) einer erkannten Kontur des Fußgängers (1) aus dem Umgebungsbild (7) und; - Ermitteln (S4) von Landmarken in dem Umgebungsbild (7).

公开(公告)号：WO2021231986A1

公开(公告)日：2021-11-18

申请号：PCT/US2021/032638

申请日：2021-05-14

Applicant: PERCEPTIVE AUTOMATA, INC.

Inventor： HARTMANN, Till, S. ,  ZAREMBA, Jeffrey, D. ,  ANTHONY, Samuel, English

IPC: B60W30/10 ,  B60W30/08 ,  G05D1/02 ,  G08G1/01 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2552/05 ,  B60W2554/4029 ,  B60W2554/4041 ,  B60W2554/4044 ,  B60W2554/4045 ,  B60W2554/4046 ,  B60W2554/408 ,  B60W2554/801 ,  B60W60/001 ,  B60W60/00272 ,  G05D1/0221 ,  G05D1/0246 ,  G05D2201/0213 ,  G06K9/00718 ,  G06K9/00791 ,  G06K9/46 ,  G06K9/623 ,  G06K9/6253 ,  G06K9/6256 ,  G06K9/6262 ,  G06N20/00 ,  G06N3/08 ,  G06N5/04

Abstract: A system uses a machine learning based model to determine attributes describing states of mind and behavior of traffic entities in video frames captured by an autonomous vehicle. The system identifies a set of video frames associated with ground truth scenarios for validating the accuracy of the machine learning based model and predicts attributes of traffic entities in the video frames. The system analyzes video frames captured after the set of video frames to determine actual attributes of the traffic entities. Based on a comparison of the predicted attributes and actual attributes, the system determines a likelihood of the machine learning based model making accurate predictions and uses the likelihood to generate a navigation action table for controlling the autonomous vehicle.

公开(公告)号：WO2021231355A1

公开(公告)日：2021-11-18

申请号：PCT/US2021/031682

申请日：2021-05-11

Applicant: WAYMO LLC

Inventor： MCCOOL, Courtney ,  COOPER, Roshni ,  YANG, Timothy ,  WANG, Yuchi

IPC: B60W60/00 ,  B60W40/02 ,  B60W50/00 ,  B60W60/0011 ,  B60W60/0027 ,  G06K9/00791 ,  G06K9/6267

Abstract: Aspects of the disclosure provide methods for controlling a first vehicle (100) having an autonomous driving mode. In one instance, sensor data generated by one or more sensors of the first vehicle may be received. A splash and characteristics of the splash may be detected from the sensor data using a classifier. A severity of a puddle (680), (682) may be determined based on the characteristics of the splash and a speed of a second vehicle (670), (672) that caused the splash. The first vehicle may be controlled based on the severity. In another instance, a location of a puddle relative to a tire (870) of a second vehicle is estimated using sensor data generated by one or more sensors of the first vehicle. A severity of the puddle may be determined based on the estimated location. The first vehicle may be controlled based on the severity.

公开(公告)号：WO2021196532A1

公开(公告)日：2021-10-07

申请号：PCT/CN2020/115645

申请日：2020-09-16

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： KU, Jason, Philip ,  AMIRLOO ABOLFATHI, Elmira ,  ROHANI, Mohsen

IPC: G06K9/62 ,  G06T7/246 ,  G06K9/00791 ,  G06K9/6211 ,  G06K9/6221 ,  G06K9/6272 ,  G06N3/02

Abstract: A method for generation of an augmented point cloud with point features from aggregated 3D coordinate data and related device. The method comprises receiving a current point cloud in the form of 3D coordinate data in ego coordinates from one or more detection and ranging (DAR) devices of a vehicle. Features are extracted from the current point cloud. A previous point cloud is transformed into ego coordinates using a current location of the vehicle. Each point in the previous point cloud is transformed to align with a corresponding point in the current point cloud to generate a transformed point cloud. The current point cloud is aggregated with the transformed point cloud to generate an aggregated point cloud. The current point features are aggregated with the point features of the transformed point cloud to generate aggregated point features.