公开(公告)号：US20240239368A1

公开(公告)日：2024-07-18

申请号：US18155378

申请日：2023-01-17

Applicant: Kodiak Robotics, Inc.

Inventor： Philip C. Du Toit ,  Akshay Khatri ,  Andreas Wendel ,  Zachais Vawter ,  Collin C. Otis ,  Ryan T. Lee

IPC: B60W60/00 ,  G06V10/26 ,  G06V10/34 ,  G06V20/56

CPC classification number: B60W60/001 ,  G06V10/26 ,  G06V10/34 ,  G06V20/588 ,  B60W2552/00

Abstract: This disclosure provides methods and systems for dynamically creating a trajectory for navigating a vehicle. The method may include receiving sensor data from at least one sensor of the autonomous vehicle, the sensor data representative of a driving surface in a field of view of the autonomous vehicle; segmenting a portion of the driving surface in the field of view of the autonomous vehicle by determining nominal path based at least in part on the image data; assigning a plurality of nodes to at least a portion of the nominal path; associating the plurality of the nodes assigned to the nominal path with a line to generate at least one segmentation polyline; determining updated nominal path by fitting the each of the plurality of segmentation lines to the nominal path; generating a trajectory based on the updated nominal path; and navigating the autonomous vehicle according to the trajectory.

公开(公告)号：US20240300487A1

公开(公告)日：2024-09-12

申请号：US18179176

申请日：2023-03-06

Applicant: Kodiak Robotics, Inc.

Inventor： Collin Otis ,  Philip C. Du Toit

IPC: B60W30/095

CPC classification number: B60W30/0956 ,  B60W2554/4041 ,  B60W2556/40

Abstract: Exemplary embodiments include methods and systems to adjust a driving path in a planner-map, including: identifying a driving surface; determining a path on the driving surface; identifying one or more objects relative to the driving surface using one or more sensors; detecting one or more occlusion areas from sensor data from the one or more sensors; tracking one or more tracks of one or more objects within the one or more occlusion areas; adding uncertainty to the one or more tracks within the one or more occlusion areas; and adjusting the path on the driving surface based on the uncertainty of the one or more tracks within the one or more occlusion areas.

公开(公告)号：US20240203130A1

公开(公告)日：2024-06-20

申请号：US18065711

申请日：2022-12-14

Applicant: Kodiak Robotics, Inc.

Inventor： Suchir Gupta ,  Collin C. Otis ,  Cole M. Miles ,  Philip C. Du Toit ,  Andreas Wendel

IPC: G06V20/58 ,  G06N20/00

CPC classification number: G06V20/58 ,  G06N20/00

Abstract: This disclosure provides methods and systems for detecting and tracking objects in an environment of an autonomous vehicle. The method may include: receiving sensor data from at least one sensor of the autonomous vehicle, the sensor data representative of one or more portions of an object in the environment of the autonomous vehicle; determining a highest confidence portion of the object, wherein the highest confidence portion of the object comprises a portion of the object that is observed and estimated with highest accuracy and confidence; determining features of the highest confidence portion of the object; training a machine learning model based at least in part on the features of the highest confidence portion of the object and an error metric that measures difference between the highest confidence portion of the object and a corresponding portion of the object in a ground truth; and detecting or tracking one or more objects in the environment of the autonomous vehicle using the trained machine learning model.

公开(公告)号：US20240304001A1

公开(公告)日：2024-09-12

申请号：US18179075

申请日：2023-03-06

Applicant: Kodiak Robotics, Inc.

Inventor： Kenar Vyas ,  Sean Roelofs ,  Collin C. Otis ,  Philip C. Du Toit

IPC: G06V20/56 ,  G01S17/86 ,  G01S17/894 ,  G01S17/931 ,  G06V10/82

CPC classification number: G06V20/588 ,  G01S17/86 ,  G01S17/894 ,  G01S17/931 ,  G06V10/82

Abstract: Systems and methods for detecting a portion of an environment of a vehicle are provided. The method may comprise generating, using one or more sensors coupled to a vehicle, environment data from an environment of the vehicle, wherein the environmental data comprises one or more of the following: ground LiDAR data from the environment; camera data from the environment; and path data corresponding to a change in position of one or more other vehicles within the environment. The method may comprise inputting the environmental data into a machine learning model trained to generate a heatmap, and, using a processor, based on the environmental data, determining a portion of the environment, wherein the portion of the environment comprises an area having a likelihood, greater than a minimum threshold, of being adjacent to one or more pavement markings, and generating the heatmap, wherein the heatmap corresponds to the portion of the environment.

公开(公告)号：US20240300533A1

公开(公告)日：2024-09-12

申请号：US18179193

申请日：2023-03-06

Applicant: Kodiak Robotics, Inc.

Inventor： Collin Otis ,  Philip C. Du Toit

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/0015 ,  B60W50/0097 ,  B60W2554/4041 ,  B60W2554/4045 ,  B60W2556/20 ,  B60W2556/40

Abstract: Exemplary embodiments include systems and methods to maintain tracking of an object that passes into an occluded area, including defining a map of a driving area; defining one or more occlusion areas within the map; detecting an object using sensor data from one or more sensors; creating an object track for the object detected using sensor data; determining that the object track entered one of the one or more occlusion areas; and maintaining the object track while the object track remains in the one or more occlusion areas.

公开(公告)号：US20240300486A1

公开(公告)日：2024-09-12

申请号：US18179165

申请日：2023-03-06

Applicant: Kodiak Robotics, Inc.

Inventor： Collin Otis ,  Philip C. Du Toit

IPC: B60W30/095

CPC classification number: B60W30/0956 ,  B60W60/0015 ,  B60W2554/4041 ,  B60W2556/40

Abstract: Exemplary embodiments described herein include systems and method to remove tracks from a tracker when the tracks are within an occluded region, including defining a map of a driving area; defining an occlusion area within the map; detecting an object using sensor data from one or more sensors; determining that the object entered the occlusion area; creating an estimated object location for the object within the occlusion area; dropping the estimated object location for the object when the occlusion area is cleared.

公开(公告)号：US20240199065A1

公开(公告)日：2024-06-20

申请号：US18147190

申请日：2022-12-28

Applicant: Kodiak Robotics, Inc.

Inventor： Suchir Gupta ,  Collin C. Otis ,  Cole M. Miles ,  Philip C. Du Toit ,  Andreas Wendel

IPC: B60W60/00 ,  G06N3/0464 ,  G06V20/58

CPC classification number: B60W60/001 ,  G06N3/0464 ,  G06V20/58 ,  B60W2554/4041

Abstract: This disclosure provides methods and systems for generating a training set for a neural network configured to generate candidate trajectories for an autonomous vehicle, comprising: receiving a set of sensor data representative of one or more portions of a plurality of objects in the environment of the autonomous vehicle; for each object, calculating a representative box enclosing the object, the representative box having portions comprising corners, edges, and planes; for each representative box, calculating at least one vector into the representative box from a position on the autonomous vehicle; for each vector, calculating a first and second corner position of the representative box, an edge of the representative box, and a plane of the representative box; determining the highest confidence corners, edge, and plane of each representative based on calculation from the at least one vector; and generating a training set including the highest confidence corners, edge, and plane of each representative box.