公开(公告)号：US11808581B2

公开(公告)日：2023-11-07

申请号：US16893522

申请日：2020-06-05

Applicant: ZENUITY AB

Inventor： Anders Hansson ,  Roza Maghsood ,  Eliza Nordén ,  Ellen Korsberg

IPC: G01C21/32 ,  B60W60/00 ,  G05D1/02 ,  G06V20/56

CPC classification number: G01C21/32 ,  B60W60/001 ,  G05D1/0214 ,  G06V20/588 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2520/14 ,  B60W2552/53 ,  B60W2556/40 ,  G05D1/027 ,  G05D2201/0213

Abstract: The present disclosure relates to lane-level map matching for a vehicle. The method includes receiving vehicle data including a geographical position of the vehicle, a heading of the vehicle, and a speed of the vehicle and receiving sensor data from a perception system of the vehicle. The sensor data includes information about a position of at least one road reference in a surrounding environment of the vehicle. Operations include receiving map data including a lane geometry of the surrounding environment of the vehicle, the lane geometry including a set of candidate lanes. Operations include forming a state space model including a set of states. Each state of the set of states represents a candidate lane of the set of candidate lanes, and defining a cost for going from each state to every other state of the set of states based on the received vehicle data and the received sensor data.

公开(公告)号：US11808575B2

公开(公告)日：2023-11-07

申请号：US17417795

申请日：2019-12-27

Applicant: AICHI STEEL CORPORATION

Inventor： Michiharu Yamamoto ,  Kota Aratani ,  Kazuo Urakawa

IPC: G01C19/5776 ,  G01C21/28 ,  G08G1/01 ,  G08G1/09 ,  B62D15/02 ,  G05D1/02

CPC classification number: G01C19/5776 ,  B62D15/025 ,  G01C21/28 ,  G05D1/027 ,  G05D1/0261 ,  G08G1/0116 ,  G08G1/094 ,  G05D2201/0213

Abstract: A vehicle traveling control method for causing a vehicle to travel along a traveling road where magnetic markers are arrayed is a control method including an azimuth measuring process of performing a process on angular velocity, which is an output of a gyro sensor, and measuring a measured azimuth indicating an orientation of the vehicle, a control process of controlling the vehicle so that the measured azimuth is matched with a target azimuth corresponding to a direction of the traveling road, and a correction process of correcting a degree of control by the control process, in order to bring a lateral shift amount of the vehicle with reference to each of the magnetic markers closer to zero, in accordance with the lateral shift amount.

公开(公告)号：US11807263B2

公开(公告)日：2023-11-07

申请号：US18120230

申请日：2023-03-10

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Stephanie Olivia Engle ,  Mariya Jacobo ,  Jacqueline Mary Shannon ,  David Hyon Berrios ,  Tejeswara Reddy Pogula ,  John Logan Anderson ,  Divya Thakur

IPC: B60W50/14 ,  G05D1/00 ,  B60W30/18 ,  G05D1/02

CPC classification number: B60W50/14 ,  B60W30/18 ,  G05D1/0088 ,  G05D1/0214 ,  B60W2050/146 ,  B60W2554/00 ,  B60W2555/60 ,  B60W2710/30 ,  B60W2900/00 ,  G05D2201/0213

Abstract: Various technologies described herein pertain to causing presentation on a user interface of an immediate portion of a navigation route of an autonomous vehicle. A computing system of the autonomous vehicle determines whether an object detected by sensor(s) of the autonomous vehicle proximate to the immediate portion of the navigation route are of a type and relative position defined as one of consequential and inconsequential for a human passenger. In response to determining that an object has both a type and relative position defined as consequential, the computing system causes presentation on the user interface a representation of the object relative to the immediate portion of the navigation route to provide a confidence engendering indication that the autonomous vehicle has detected the object. Otherwise if inconsequential, presentation on the user interface of any representation of the object is not caused by the computing system to avoid creating a confusing presentation.

公开(公告)号：US11802969B2

公开(公告)日：2023-10-31

申请号：US17825347

申请日：2022-05-26

Applicant: Zoox, Inc.

Inventor： William Anthony Silva ,  Dragomir Dimitrov Anguelov ,  Benjamin Isaac Zwiebel ,  Juhana Kangaspunta

IPC: G05D1/02 ,  G05D1/00 ,  G06K9/00 ,  G06T7/246 ,  B60W50/04 ,  B60W30/09 ,  B60W50/00 ,  G08G1/16 ,  G06T7/10 ,  G06F16/29 ,  G01S17/931 ,  G06V20/58 ,  G01S17/89 ,  G06V10/764

CPC classification number: G01S17/89 ,  G01S17/931 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0214 ,  G05D1/0248 ,  G05D1/0274 ,  G06F16/29 ,  G06T7/10 ,  G06V10/764 ,  G06V20/58 ,  G08G1/166 ,  G05D2201/0213 ,  G06T2207/30241 ,  G06T2207/30261

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.

公开(公告)号：US20230341871A1

公开(公告)日：2023-10-26

申请号：US18346486

申请日：2023-07-03

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  G05D1/0248 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213 ,  B60W30/18154

Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.

公开(公告)号：US11798183B2

公开(公告)日：2023-10-24

申请号：US17195296

申请日：2021-03-08

Applicant: NVIDIA Corporation

Inventor： Luyang Zhu ,  Arsalan Mousavian ,  Yu Xiang ,  Dieter Fox

IPC: G06T7/521 ,  G06T15/06 ,  G06N20/00 ,  G06T7/90 ,  G05D1/02 ,  G06T7/55 ,  G06N3/045

CPC classification number: G06T7/521 ,  G05D1/0214 ,  G05D1/0221 ,  G05D1/0251 ,  G06N3/045 ,  G06N20/00 ,  G06T7/55 ,  G06T7/90 ,  G06T15/06 ,  G05D2201/0213 ,  G06T2207/10028

Abstract: Apparatuses, systems, and techniques to estimate or predict depth information for image data. In at least one embodiment, depth information is predicted based at least in part on color information and geometry information associated with an image.

公开(公告)号：US11797017B2

公开(公告)日：2023-10-24

申请号：US17910245

申请日：2021-03-02

Applicant: EINRIDE AB

Inventor： Christian Larsson ,  Niklas Lundin

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0223 ,  G05D1/0027 ,  G05D1/0038 ,  G05D1/0061 ,  G05D2201/0213

Abstract: Embodiments of the invention relate to a method for controlling a fleet of at least two autonomous/remotely operated vehicles, wherein an embodiment of the method comprises: assigning to each of said at least two vehicles a predetermined route comprising a road segment which requires that a teleoperator of a remote operation station assists and/or drives the vehicle, determining a time overlap of the said road segments, and based on the determined time overlap, inserting a delay or a speedup in a preceding autonomous drive road segment of the predetermined route of at least one of said at least two autonomous/remotely operated vehicles so that said road segments no longer overlap in time.

公开(公告)号：US11796997B1

公开(公告)日：2023-10-24

申请号：US16829848

申请日：2020-03-25

Applicant: GM Cruise Holdings LLC

Inventor： Anuj Kaul ,  Kunal Roy

IPC: G05D1/00 ,  G05D1/02 ,  B60W60/00

CPC classification number: G05D1/0022 ,  B60W60/0017 ,  G05D1/0088 ,  G05D1/028 ,  G05D1/0285 ,  G05D2201/0213

Abstract: The subject disclosure relates to technologies for vehicle interactions with emergency vehicles. A process of the disclosed technologies can include steps for receiving a command from an emergency vehicle identifying an autonomous vehicle and initiating actions to cause the autonomous vehicle identified by the emergency vehicle to obey the command.

公开(公告)号：US11794783B2

公开(公告)日：2023-10-24

申请号：US17211785

申请日：2021-03-24

Applicant: Ford Global Technologies, LLC

Inventor： Kristopher Karl Brown ,  Kendra White ,  Steven Wayne Friedlander ,  Cornel Lewis Gardner

IPC: B60W60/00 ,  G06Q10/083 ,  G05D1/02 ,  G05D1/00 ,  B60P3/00 ,  B60W40/04 ,  B60Q5/00 ,  H04W4/12 ,  G08G1/01

CPC classification number: B60W60/00256 ,  B60P3/007 ,  B60Q5/005 ,  B60W40/04 ,  G05D1/0088 ,  G05D1/0214 ,  G06Q10/083 ,  B60W2420/42 ,  B60W2420/52 ,  G05D2201/0213 ,  G06Q2240/00 ,  G08G1/0104 ,  H04W4/12

Abstract: The disclosure generally pertains to systems and methods for assisting a customer retrieve a package from an autonomous vehicle. In an example procedure, the autonomous vehicle may detect the customer waiting at a first spot and may determine that the first spot is unsuitable/unsafe for the customer to retrieve a package from a locked compartment in the autonomous vehicle. The autonomous vehicle may therefore instruct the customer to move to a second spot that is safer and closer to the compartment and may then execute an authentication procedure to authenticate the customer and unlock a door of the compartment. In an alternative approach, the autonomous vehicle may travel to a parking spot that is safer and closer to where the customer is waiting (rather than instructing the customer to move) before authenticating and unlocking the door of the compartment to allow the customer to retrieve the package.

公开(公告)号：US11794736B2

公开(公告)日：2023-10-24

申请号：US17412009

申请日：2021-08-25

Applicant: Zoox, Inc.

Inventor： Janek Hudecek ,  Victoria Magdalena Dax

IPC: B60W30/095 ,  G05D1/02 ,  G08G1/16 ,  G05D1/00

CPC classification number: B60W30/0956 ,  B60W30/0953 ,  G05D1/0088 ,  G05D1/0214 ,  G08G1/166 ,  B60W2520/06 ,  B60W2554/00 ,  G05D2201/0213

Abstract: Techniques for generating trajectories and drivable areas for navigating a vehicle in an environment are discussed herein. The techniques can include receiving a trajectory representing an initial trajectory for a vehicle, such as an autonomous vehicle, to traverse the environment in a drivable area. A location can be determined along the trajectory. A cost associated with the location can determined and can be evaluated with respect to a cost threshold. Further, the techniques can include determining, based at least in part on the cost meeting or exceeding the cost threshold, an action associated with the location, and controlling the autonomous vehicle to traverse the environment based at least in part on the action.