公开(公告)号：US12131487B2

公开(公告)日：2024-10-29

申请号：US17725879

申请日：2022-04-21

Applicant: Aurora Operations, Inc.

Inventor： Shivam Gautam ,  Brian C. Becker ,  Carlos Vallespi-Gonzalez ,  Cole Christian Gulino

IPC: G06T7/70 ,  G05D1/00 ,  G06T7/20 ,  G06T7/246 ,  G06V10/764 ,  G06V10/82 ,  G06V20/58 ,  G06V40/10

CPC classification number: G06T7/246 ,  G05D1/0088 ,  G05D1/0231 ,  G06T7/20 ,  G06V10/764 ,  G06V10/82 ,  G06V20/58 ,  G06V40/10 ,  G06T2207/30261

Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices associated with object association and tracking are provided. Input data can be obtained. The input data can be indicative of a detected object within a surrounding environment of an autonomous vehicle and an initial object classification of the detected object at an initial time interval and object tracks at time intervals preceding the initial time interval. Association data can be generated based on the input data and a machine-learned model. The association data can indicate whether the detected object is associated with at least one of the object tracks. An object classification probability distribution can be determined based on the association data. The object classification probability distribution can indicate a probability that the detected object is associated with each respective object classification. The association data and the object classification probability distribution for the detected object can be outputted.

公开(公告)号：US20240353840A1

公开(公告)日：2024-10-24

申请号：US18758747

申请日：2024-06-28

Applicant: Aurora Operations, Inc.

Inventor： Cameron David Christie ,  Anuranga Sajith Gunaratne

IPC: G05D1/00 ,  B60W30/18 ,  B60W40/105 ,  G06V20/56

CPC classification number: G05D1/0223 ,  B60W30/18036 ,  B60W40/105 ,  G06V20/56 ,  B60W2554/00

Abstract: An autonomous vehicle includes a first sensor group, a second sensor group, processing logic, and a switch. The first sensor group is configured to generate first sensor data. The second sensor group is configured to generate second sensor data. The processing logic is configured to generate an operation instruction. The switch is coupled between the processing logic and the first sensor group and the second sensor group. The switch includes a prioritization engine configured to prioritize an order of transmission, from the switch to the processing logic, of the first sensor data over the second sensor data based on vehicle operation data received by the prioritization engine.

公开(公告)号：US12103554B2

公开(公告)日：2024-10-01

申请号：US17150982

申请日：2021-01-15

Applicant: Aurora Operations, Inc.

Inventor： Raquel Urtasun ,  Kelvin Ka Wing Wong ,  Qiang Zhang ,  Bin Yang ,  Ming Liang ,  Renjie Liao

IPC: B60W60/00 ,  B60W50/00 ,  G06F30/27 ,  G06N3/08

CPC classification number: B60W60/001 ,  B60W50/00 ,  G06F30/27 ,  G06N3/08 ,  B60W2050/0019 ,  B60W2050/0083

Abstract: Systems and methods of the present disclosure are directed to a method. The method can include obtaining simplified scenario data associated with a simulated scenario. The method can include determining, using a machine-learned perception-prediction simulation model, a simulated perception-prediction output based at least in part on the simplified scenario data. The method can include evaluating a loss function comprising a perception loss term and a prediction loss term. The method can include adjusting one or more parameters of the machine-learned perception-prediction simulation model based at least in part on the loss function.

公开(公告)号：US20240317261A1

公开(公告)日：2024-09-26

申请号：US18309494

申请日：2023-04-28

Applicant: Aurora Operations, Inc.

Inventor： James Andrew Bagnell ,  Sanjiban Choudhury ,  Michael Lee Phillips ,  Arun Venkatraman ,  Xinyan Yan

IPC: B60W60/00 ,  B60W40/09

CPC classification number: B60W60/0015 ,  B60W40/09

Abstract: An example method includes obtaining log data descriptive of an exemplar action of an exemplar vehicle in an environment, the exemplar action occurring in an initial state of the environment; determining, using the operational system, a planned action for a simulated vehicle in the initial state of the environment; simulating an SUT state of the environment resulting from the simulated vehicle executing the planned action in the initial state of the environment and an actor performing an actor action subsequent to the planned action and an exemplar state of the environment resulting from the simulated vehicle executing the exemplar action in the initial state of the environment and the actor performing the actor action subsequent to the exemplar action; determining a test score based on the SUT state and a reference score based on the exemplar state; evaluating the operational system based on the test score and the reference score.

公开(公告)号：US12099120B2

公开(公告)日：2024-09-24

申请号：US17054242

申请日：2019-05-10

Applicant: Aurora Operations, Inc.

Inventor： Phillip Sandborn ,  Sen Lin

IPC: G01S17/58 ,  G01S7/481 ,  G01S7/491 ,  G01S17/34 ,  G01S17/95

CPC classification number: G01S17/34 ,  G01S7/4817 ,  G01S7/491 ,  G01S17/58 ,  G01S17/95 ,  G01S7/4815

Abstract: A LIDAR system and method for determining a distance and a velocity of a target. The LIDAR system can include laser bank (62) is configured to generate a laser field from a first laser beam having a positive frequency sweep and a second laser beam having a negative frequency sweep, an optical combiner (65), an optical coupler (63), a photoreceiver (66), and a control circuit (69). The optical coupler direct a first portion of the laser field at the target such that the first portion is reflected by the target to the optical combiner. The optical combiner can optically combine the portions of the laser field. The output an 1-output (67) and a Q-output (68) according to the optically combined portions of the laser field. The control circuit can determine a nominal beat frequency, which corresponds to the distance of the target, and a frequency shift, which corresponds to the velocity of the target, accordingly.

公开(公告)号：US20240308548A1

公开(公告)日：2024-09-19

申请号：US18512260

申请日：2023-11-17

Applicant: AURORA OPERATIONS, INC.

Inventor： Stephen CROUCH ,  Zeb BARBER ,  Emil KADLEC ,  Ryan GALLOWAY ,  Sean SPILLANE

IPC: B60W60/00 ,  G01S7/481 ,  G01S7/4912 ,  G01S17/34 ,  G01S17/58 ,  G01S17/931

CPC classification number: B60W60/0025 ,  G01S7/4811 ,  G01S7/4817 ,  G01S7/4912 ,  G01S17/34 ,  G01S17/58 ,  G01S17/931 ,  B60W2420/408 ,  B60W2552/05 ,  B60W2552/53 ,  B60W2554/4029

Abstract: A light detection and ranging (LIDAR) system for a vehicle, includes a laser source configured to output a beam, a transmitter, a receiver, one or more optics and a processor. The transmitter is configured to transmit a transmit signal that is generated based on the beam. The receiver is configured to receive a return signal reflected by an object in response to the transmit signal. The one or more optics are configured to generate a first signal and a second signal based on the return signal, wherein the first signal and the second signal have different polarizations. The processor is configured to determine a type of the object by processing a signal-to-noise ratio (SNR) value of the first signal and a SNR value of the second signal.

公开(公告)号：US20240302509A1

公开(公告)日：2024-09-12

申请号：US18669875

申请日：2024-05-21

Applicant: Aurora Operations, Inc.

Inventor： Zeb Barber ,  Randy R. Reibel ,  Emil Kadlec

IPC: G01S7/4912 ,  G01S17/931

CPC classification number: G01S7/4917 ,  G01S17/931

Abstract: A light detection and ranging (LIDAR) system may include a laser configured to output a beam, an amplifier and a plurality of splitters. The amplifier may generate, based on the beam, a plurality of amplified optical signals that are respectively associated with a plurality of phases. The plurality of splitters, coupled between the amplifier and a plurality of outputs, may receive the plurality of amplified optical signals, generate, at a first point of time, a first combined optical signal of the plurality of amplified optical signals at a first output of the plurality of outputs with no optical signal at remaining outputs of the plurality of outputs, and generate, at a second point of time, a second combined optical signal of the plurality of amplified optical signals at a second output of the plurality of outputs with no optical signal at remaining outputs of the plurality of outputs.

公开(公告)号：US12085651B2

公开(公告)日：2024-09-10

申请号：US17129962

申请日：2020-12-22

Applicant: Aurora Operations, Inc.

Inventor： Michael Bryan Borden ,  James Allen Haslim

IPC: G01C3/08 ,  G01S7/481 ,  G01S7/4911 ,  G01S7/4912 ,  G01S17/931

CPC classification number: G01S17/931 ,  G01S7/4813 ,  G01S7/4911 ,  G01S7/4912

Abstract: A LIDAR assembly defining a horizontal axis and a vertical axis is provided. The LIDAR assembly includes a LIDAR unit. The LIDAR unit includes a housing defining a cavity. The LIDAR unit further includes a first plurality of emitters disposed within the cavity and a second plurality of emitters disposed within the cavity. Each of the first plurality of emitters is configured to emit a first laser beam at a first wavelength. Conversely, each of the second plurality of emitters is configured to emit a second laser beam at a second wavelength that is different than the first wavelength. The LIDAR assembly includes an optic positioned outside of the housing. The optic is configured to optically act on the first laser beam and the second laser beam in a different manner to widen a field of view of the LIDAR unit along the vertical axis.

公开(公告)号：US12084085B1

公开(公告)日：2024-09-10

申请号：US18309494

申请日：2023-04-28

Applicant: Aurora Operations, Inc.

Inventor： James Andrew Bagnell ,  Sanjiban Choudhury ,  Michael Lee Phillips ,  Arun Venkatraman ,  Xinyan Yan

IPC: B60W60/00 ,  B60W40/09

CPC classification number: B60W60/0015 ,  B60W40/09

Abstract: An example method includes obtaining log data descriptive of an exemplar action of an exemplar vehicle in an environment, the exemplar action occurring in an initial state of the environment; determining, using the operational system, a planned action for a simulated vehicle in the initial state of the environment; simulating an SUT state of the environment resulting from the simulated vehicle executing the planned action in the initial state of the environment and an actor performing an actor action subsequent to the planned action and an exemplar state of the environment resulting from the simulated vehicle executing the exemplar action in the initial state of the environment and the actor performing the actor action subsequent to the exemplar action; determining a test score based on the SUT state and a reference score based on the exemplar state; evaluating the operational system based on the test score and the reference score.

公开(公告)号：US12071160B2

公开(公告)日：2024-08-27

申请号：US17028203

申请日：2020-09-22

Applicant: Aurora Operations, Inc.

Inventor： Chenggang Liu ,  Daoyuan Jia ,  David McAllister Bradley

IPC: B60W60/00 ,  B60W30/095 ,  B60W40/10

CPC classification number: B60W60/0011 ,  B60W30/095 ,  B60W40/10 ,  B60W60/0016 ,  B60W2554/4041

Abstract: The present disclosure is directed to generating vehicle motion corridors for use in generating autonomous vehicle paths. In particular, a computing system can access map data for a geographic area and sensor data for the geographic area around an autonomous vehicle. The computing system can identify, based on the map data and the sensor data, object data describing a position and a size of one or more objects in the geographic area of the autonomous vehicle. The computing system can access path data describing a nominal path through the geographic area. The computing system can determine a plurality of corridor segments associated with the nominal path. The computing system can generate a vehicle motion corridor by aggregating the plurality of corridor segments, wherein the vehicle motion corridor defines an area in which the autonomous vehicle can travel without colliding with the one or more objects.