公开(公告)号：US11767031B2

公开(公告)日：2023-09-26

申请号：US17243785

申请日：2021-04-29

Applicant: TuSimple, Inc.

Inventor： Changyi Zhao ,  Joyce Tam ,  Bin Huang

IPC: B60W60/00 ,  B60W40/02 ,  G05D1/02 ,  H04W4/46 ,  B60W50/00

CPC classification number: B60W60/0011 ,  B60W40/02 ,  B60W50/00 ,  G05D1/0293 ,  G05D1/0295 ,  H04W4/46 ,  B60W2050/0075 ,  B60W2300/145 ,  B60W2556/50 ,  B60W2556/65 ,  G05D2201/0213

Abstract: A system comprises an autonomous vehicle (AV) and an operation server operably coupled with the AV. The operation server accesses environmental data associated with a road traveled by the AV. The environmental data is associated with a time window during which the AV is traveling along the road. The operation server compares the environmental data with map data that comprises expected road conditions ahead of the AV. The operation server determines whether the environmental data comprises an unexpected road condition that is not included in the map data. In response to determining that the environmental data comprises the unexpected road condition that is not included in the map data, the operation server determines a location coordinate of the unexpected road condition, and communicates a command to the AV to maneuver to avoid the unexpected road condition.

公开(公告)号：US20230297104A1

公开(公告)日：2023-09-21

申请号：US17889938

申请日：2022-08-17

Applicant: Hyundai Motor Company ,  Kia Corporation ,  SL Corporation

Inventor： Eun Sik KIM ,  Jae Hoon JUNG ,  Ji Hoon YANG ,  Seok Woo YE

IPC: G05D1/00 ,  B62D1/04

CPC classification number: G05D1/0016 ,  G05D1/0061 ,  B62D1/046 ,  G05D2201/0213

Abstract: An integrated control apparatus for an autonomous driving vehicle is configured to perform steering, shifting, accelerating, and braking of the vehicle by a user operating a foldable steering wheel, a shift slide switch, an acceleration trigger switch, and a brake button switch that are provided in a movable manipulator when the vehicle is turned from an autonomous driving mode to a manual driving mode.

公开(公告)号：US20230294688A1

公开(公告)日：2023-09-21

申请号：US18006412

申请日：2021-07-06

Applicant: Siemens Mobility GmbH

Inventor： Helge Molthan ,  Claus Seisenberger

IPC: B60W30/12 ,  G05D1/02 ,  G08G1/16

CPC classification number: B60W30/12 ,  G05D1/0261 ,  G08G1/167 ,  G05D2201/0213

Abstract: An assistance system for a road vehicle which can be used on a roadway having one or more lanes, includes a position determination system for determining a lateral relative position of the road vehicle on the roadway. The position determination system has an electrical signal line disposed parallel to the roadway, a signal generator for generating and feeding an electrical signal into the signal line, resulting in a current flow which can be generated in the signal line, an on-vehicle sensor assembly for capturing a field strength and/or a field direction of an electromagnetic field forming about the signal line as a result of the current flow generated, and an on-vehicle evaluation unit, configured to determine, from the captured field strength and/or field direction, a lateral relative position of the road vehicle relative to the signal line. A more reliable position determination system is thus provided.

公开(公告)号：US11762392B2

公开(公告)日：2023-09-19

申请号：US16817865

申请日：2020-03-13

Applicant: WAYMO LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Tobias Kunz ,  Vadim Furman

IPC: G05D1/02 ,  G05D1/00 ,  B60W30/08

CPC classification number: G05D1/0223 ,  B60W30/08 ,  G05D1/0088 ,  G05D2201/0213

Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be identified. Determining a speed profile for the geometry that meets the value may be attempted by determining a discomfort value for the speed profile based on a set of factors relating to at least discomfort of a passenger of the first vehicle and discomfort of a passenger of the second vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.

公开(公告)号：US20230289599A1

公开(公告)日：2023-09-14

申请号：US18183515

申请日：2023-03-14

Applicant: Tesla, Inc.

Inventor： Harsimran Singh Sidhu ,  Paras Jagdish Jain ,  Daniel Paden Tomasello ,  Forrest Nelson Iandola

IPC: G06N3/08 ,  G06N3/10 ,  G05B13/02 ,  G05D1/00 ,  G05D1/02 ,  G06F9/455

CPC classification number: G06N3/08 ,  G05B13/027 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0221 ,  G06F9/45533 ,  G06N3/10 ,  G05D2201/0213

Abstract: A model training and implementation pipeline trains models for individual embedded systems. The pipeline iterates through multiple models and estimates the performance of the models. During a model generation stage, the pipeline translates the description of the model together with the model parameters into an intermediate representation in a language that is compatible with a virtual machine. The intermediate representation is agnostic or independent to the configuration of the target platform. During a model performance estimation stage, the pipeline evaluates the performance of the models without training the models. Based on the analysis of the performance of the untrained models, a subset of models is selected. The selected models are then trained and the performance of the trained models are analyzed. Based on the analysis of the performance of the trained models, a single model is selected for deployment to the target platform.

公开(公告)号：US20230288935A1

公开(公告)日：2023-09-14

申请号：US18051982

申请日：2022-11-02

Applicant: Argo AI, LLC

Inventor： Scott Julian Varnhagen ,  Alice Kassar ,  Ghassan Atmeh ,  Neal Seegmiller ,  Ramadev Burigsay Hukkeri

IPC: G05D1/02 ,  G05D1/00 ,  B60W60/00 ,  B60W30/18 ,  B60W30/09

CPC classification number: G05D1/0214 ,  G05D1/0088 ,  B60W60/0015 ,  B60W30/18163 ,  B60W30/09 ,  B60W2555/60 ,  B60W2552/53 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2520/06 ,  G05D2201/0213 ,  B60W2554/801 ,  B60W2554/802 ,  B60W2554/4041

Abstract: Disclosed herein are systems, methods, and computer program products for generating a reference path for an autonomous vehicle. The methods comprising: receiving, by a computing device, a reference trajectory for the autonomous vehicle; generating, by the computing device, a first alternative trajectory for the autonomous vehicle based on an objective identified by the reference trajectory; comparing, by the computing device, the first alternative trajectory to the reference trajectory or a previously generated alternative trajectory; selecting, by the computing device, whether to generate a second alternative trajectory based on a result of said comparing; and generating, by the computing device, the second alternative trajectory for the autonomous vehicle in response to said selecting.

公开(公告)号：US11756307B2

公开(公告)日：2023-09-12

申请号：US17741559

申请日：2022-05-11

Applicant: Apple Inc.

Inventor： Jared A. Crawford ,  Yingen Xiong ,  Marco Pontil

IPC: G06V20/56 ,  B60R1/00 ,  H04N7/18 ,  G05D1/00 ,  B60R11/04 ,  G05D1/02 ,  H04N23/63

CPC classification number: G06V20/56 ,  B60R1/00 ,  B60R11/04 ,  G05D1/0038 ,  G05D1/0246 ,  H04N7/18 ,  H04N7/181 ,  H04N7/185 ,  B60R2300/105 ,  B60R2300/302 ,  B60R2300/303 ,  B60R2300/806 ,  G05D2201/0213 ,  G06T2207/30252 ,  H04N23/63

Abstract: Images are obtained using cameras mounted on a vehicle, and at least a portion of the obtained images are displayed on a screen. Motion of the vehicle can be controlled such that it moves toward a physical destination selected from images obtained using cameras mounted on a vehicle.

公开(公告)号：US11755024B2

公开(公告)日：2023-09-12

申请号：US17350306

申请日：2021-06-17

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Doron Weiser ,  Tomer Eshet ,  Ori Shachar

IPC: G05D1/02 ,  G08G1/16 ,  B60W30/095 ,  G06N3/02 ,  G06V20/56

CPC classification number: G05D1/0221 ,  B60W30/0956 ,  G05D1/0214 ,  G06N3/02 ,  G06V20/56 ,  G08G1/163 ,  B60W2420/42 ,  G05D2201/0213

Abstract: A navigation system may include at least one processor programmed to receive, from a camera, one or more images representative of an environment of a host vehicle; receive a first directional indicator representative of a first target trajectory direction for the host vehicle; and receive a first distance estimate associated with the first target trajectory direction. The processor may analyze the one or more images in view of the received first directional indicator and the received first distance estimate to identify in the one or more images a representation of a first road segment consistent with the first target trajectory direction and the first distance estimate; and generate a planned trajectory for the host vehicle, based at least in part on the first target trajectory direction and the first distance estimate. The planned trajectory may be made to extend along at least a portion of the first road segment. The processor may cause at least one adjustment of a navigational actuator of the host vehicle to cause the host vehicle to navigate relative to the planned trajectory.

公开(公告)号：US11755014B2

公开(公告)日：2023-09-12

申请号：US16825049

申请日：2020-03-20

Applicant: UATC, LLC

Inventor： Raquel Urtasun ,  Abbas Sadat ,  Mengye Ren ,  Andrei Pokrovsky ,  Yen-Chen Lin ,  Ersin Yumer

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0088 ,  G05D1/0214 ,  G05D1/0221 ,  G05D2201/0213

Abstract: Systems and methods for generating motion plans for autonomous vehicles are provided. An autonomous vehicle can include a machine-learned motion planning system including one or more machine-learned models configured to generate target trajectories for the autonomous vehicle. The model(s) include a behavioral planning stage configured to receive situational data based at least in part on the one or more outputs of the set of sensors and to generate behavioral planning data based at least in part on the situational data and a unified cost function. The model(s) includes a trajectory planning stage configured to receive the behavioral planning data from the behavioral planning stage and to generate target trajectory data for the autonomous vehicle based at least in part on the behavioral planning data and the unified cost function.

公开(公告)号：US11754716B2

公开(公告)日：2023-09-12

申请号：US17646293

申请日：2021-12-28

Applicant: NVIDIA Corporation

Inventor： Lin Yang ,  Mark Damon Wheeler

IPC: G01S17/89 ,  H04N19/17 ,  G01C21/30 ,  G06T9/00 ,  G01S17/86 ,  G01S17/90 ,  G01S17/931 ,  G06V20/58 ,  G06V20/56 ,  G01C21/00 ,  G06T9/20 ,  G05D1/02 ,  G06F16/174 ,  B60R11/04 ,  G01C11/02

CPC classification number: G01S17/89 ,  G01C21/30 ,  G01C21/3841 ,  G01C21/3848 ,  G01C21/3867 ,  G01S17/86 ,  G01S17/90 ,  G01S17/931 ,  G06T9/001 ,  G06T9/20 ,  G06V20/582 ,  G06V20/584 ,  G06V20/588 ,  H04N19/17 ,  B60R11/04 ,  G01C11/025 ,  G05D1/0274 ,  G05D2201/0213 ,  G06F16/1744

Abstract: Embodiments relate to methods for efficiently encoding sensor data captured by an autonomous vehicle and building a high definition map using the encoded sensor data. The sensor data can be LiDAR data which is expressed as multiple image representations. Image representations that include important LiDAR data undergo a lossless compression while image representations that include LiDAR data that is more error-tolerant undergo a lossy compression. Therefore, the compressed sensor data can be transmitted to an online system for building a high definition map. When building a high definition map, entities, such as road signs and road lines, are constructed such that when encoded and compressed, the high definition map consumes less storage space. The positions of entities are expressed in relation to a reference centerline in the high definition map. Therefore, each position of an entity can be expressed in fewer numerical digits in comparison to conventional methods.