公开(公告)号：US11841441B2

公开(公告)日：2023-12-12

申请号：US17584169

申请日：2022-01-25

Applicant: AURORA OPERATIONS, INC.

Inventor： Zeb William Barber ,  Stephen C. Crouch ,  Ryan Moore Galloway ,  Edward Joseph Angus ,  Emil Kadlec

IPC: G01S13/93 ,  G01S17/931 ,  G01S7/48 ,  G01S7/4865 ,  G01S17/32 ,  G01S7/481 ,  G02B26/10

CPC classification number: G01S17/931 ,  G01S7/4804 ,  G01S7/4817 ,  G01S7/4865 ,  G01S17/32 ,  G02B26/105

Abstract: A LIDAR system includes a laser source, a first scanner, and a second scanner. The first scanner receives a first beam from the laser source and applies a first angle modulation to the first beam to output a second beam at a first angle. The second scanner receives the second beam and applies a second angle modulation to the second beam to output a third beam at a second angle.

公开(公告)号：US11820401B1

公开(公告)日：2023-11-21

申请号：US18084485

申请日：2022-12-19

Applicant: Aurora Operations, Inc.

Inventor： Gwennael Herve Jonathan Gate ,  Dmitriy Kislovskiy ,  Narek Melik-Barkhudarov ,  Nathaniel Gist, IV

IPC: B60W60/00 ,  G01C21/36

CPC classification number: B60W60/0011 ,  B60W60/0015 ,  G01C21/3614 ,  B60W2556/50

Abstract: A teleoperations system may be used to modify elements in the mapping data used by an autonomous vehicle to cause the autonomous vehicle to control its trajectory based on the modified elements. In addition, in some instances, a teleoperations system may be used to generate virtual paths of travel for an autonomous vehicle based upon teleoperations system virtual path suggestion inputs.

公开(公告)号：US11801871B1

公开(公告)日：2023-10-31

申请号：US18147316

申请日：2022-12-28

Applicant: Aurora Operations, Inc.

Inventor： Sanjiban Choudhury ,  Sumit Kumar ,  Micol Marchetti-Bowick

IPC: B60W60/00 ,  G06Q50/30

CPC classification number: B60W60/00272 ,  B60W2552/53 ,  B60W2554/4041 ,  B60W2554/4044 ,  B60W2554/4045 ,  B60W2556/00 ,  G06Q50/30

Abstract: Example aspects of the present disclosure relate to an example computer-implemented method for predicting the intent of actors within an environment. The example method includes obtaining state data associated with a plurality of actors within the environment and map data indicating a plurality of lanes of the environment. The method include determining a plurality of potential goals each actor based on the state data and the map data. The method includes processing the state data, the map data, and the plurality of potential goals with a machine-learned forecasting model to determine (i) a forecasted goal for a respective actor of the plurality of actors, (ii) a forecasted interaction between the respective actor and a different actor of the plurality of actors based on the forecasted goal, and (iii) a continuous trajectory for the respective actor based on the forecasted goal.

公开(公告)号：US20230333255A1

公开(公告)日：2023-10-19

申请号：US17721114

申请日：2022-04-14

Applicant: Aurora Operations, Inc.

Inventor： Edward Joseph Angus ,  Craig Benko

IPC: G01S17/931 ,  G01S7/481 ,  B60W60/00 ,  B60W10/20 ,  B60W10/18 ,  B60W50/02

CPC classification number: G01S17/931 ,  G01S7/4814 ,  G01S7/4813 ,  G01S7/4816 ,  G01S7/4817 ,  B60W60/001 ,  B60W10/20 ,  B60W10/18 ,  B60W50/0205 ,  B60W2420/52

Abstract: A light detection and ranging (LIDAR) sensor system includes a window, a laser source configured to generate a beam, one or more scanning optics configured to output the beam through the window, and a sensor. The sensor includes at least one light emitter configured to output light associated with a parameter different than a corresponding parameter of the beam, a first optic coupled to the window, the first optic configured to receive the light from the light emitter and provide the light into the window to undergo total internal reflection in the window, a second optic coupled to the window, the second optic configured to receive the light provided into the window by the first optic, and a detector configured to receive the light from the second optic and output a signal indicative of a presence of an obscurant on the window.

公开(公告)号：US11789156B1

公开(公告)日：2023-10-17

申请号：US17886398

申请日：2022-08-11

Applicant: Aurora Operations, Inc.

Inventor： Andy Michaels ,  Evan Rogers

IPC: G01S17/931 ,  G01S17/06 ,  G01S17/58 ,  G01S7/481 ,  B60W10/20 ,  B60W10/18 ,  G02B26/10 ,  G02B1/02 ,  G02B27/28 ,  G02B5/30

CPC classification number: G01S17/931 ,  B60W10/18 ,  B60W10/20 ,  G01S7/4817 ,  G02B1/02 ,  G02B26/101 ,  G02B27/286 ,  B60W2420/52 ,  B60W2554/4042 ,  B60W2710/18 ,  G02B5/3083

Abstract: A light detection and ranging (LIDAR) system for a vehicle includes a transmitter, a receiver, one or more scanning optics, and a circulator. The transmitter is configured to output a transmit beam. The receiver includes a first receive grating coupler and a second receive grating coupler. The circulator is configured to receive the transmit beam and provide the transmit beam to the one or more scanning optics, receive a return beam from reflection of the transmit beam by an object, split the return beam into at least a first component and a second component, and direct the first component to the first receive grating coupler and the second component to the second receive grating coupler.

公开(公告)号：US11755396B2

公开(公告)日：2023-09-12

申请号：US17725045

申请日：2022-04-20

Applicant: Aurora Operations, Inc.

Inventor： John Michael Wyrwas ,  Jessica Elizabeth Smith ,  Simon Box

IPC: G06F30/15 ,  G06F30/27 ,  G07C5/00 ,  G06F11/07 ,  G07C5/08 ,  G06F18/214 ,  G06F18/21 ,  G06V10/774 ,  G06V10/82 ,  G06V20/56 ,  G05D1/02 ,  G05D1/00

CPC classification number: G06F11/0739 ,  G06F18/2155 ,  G06F18/2185 ,  G06F30/15 ,  G06F30/27 ,  G06V10/774 ,  G06V10/82 ,  G06V20/56 ,  G07C5/008 ,  G07C5/0841 ,  G05D1/0088 ,  G05D1/0221

Abstract: Logged data from an autonomous vehicle is processed to generate augmented data. The augmented data describes an actor in an environment of the autonomous vehicle, the actor having an associated actor type and an actor motion behavior characteristic. The augmented data may be varied to create different sets of augmented data. The sets of augmented data can be used to create one or more simulation scenarios that in turn are used to produce machine learning models to control the operation of autonomous vehicles.

公开(公告)号：US11740337B1

公开(公告)日：2023-08-29

申请号：US17888355

申请日：2022-08-15

Applicant: Aurora Operations, Inc.

Inventor： Zeb William Barber ,  Stefan Heineman ,  Randy Ray Reibel

IPC: G01S7/4913 ,  G01S7/481 ,  G01S17/34 ,  G01S17/931

CPC classification number: G01S7/4913 ,  G01S7/4817 ,  G01S17/34 ,  G01S17/931

Abstract: A light detection and ranging (lidar) system may include a transceiver, a first device including a laser source configured to generate a beam, and one or more optical components, a second device including one or more analog-to-digital converters (ADCs), and a processor configured to alternately turn on the first device and turn on the transceiver. The first device may be configured to generate, based on the beam, an optical signal associated with a local oscillator (LO) signal. The transceiver may be configured to transmit the optical signal to an environment, in response to transmitting the optical signal, receive a returned optical signal that is reflected from an object in the environment, and pair the returned optical signal with the LO signal to generate an electrical signal. The second device may be configured to generate, based on the electrical signal, a digital signal.

公开(公告)号：US20230145236A1

公开(公告)日：2023-05-11

申请号：US17522031

申请日：2021-11-09

Applicant: Aurora Operations, Inc.

Inventor： James Andrew Bagnell ,  Sanjiban Choudhury ,  Venkatraman Narayanan ,  Arun Venkatraman

IPC: B60W60/00 ,  B60W50/00 ,  G06N20/00

CPC classification number: B60W60/0027 ,  B60W60/0011 ,  B60W50/00 ,  G06N20/00 ,  G06K9/00825

Abstract: Implementations process, using machine learning (ML) layer(s) of ML model(s), actor(s) from a past episode of locomotion of a vehicle and stream(s) in an environment of the vehicle during the past episode to forecast associated trajectories, for the vehicle and for each of the actor(s), with respect to a respective associated stream of the stream(s). Further, implementations process, using a stream connection function, the associated trajectories to forecast a plurality of associated trajectories, for the vehicle and each of the actor(s), with respect to each of the stream(s). Moreover, implementations iterate between using the ML layer(s) and the stream connection function to update the associated trajectories for the vehicle and each of the actor(s). Implementations subsequently use the ML layer(s) in controlling an AV.

公开(公告)号：US11550322B1

公开(公告)日：2023-01-10

申请号：US16588971

申请日：2019-09-30

Applicant: Aurora Operations, Inc.

Inventor： Cameron David Christie ,  Anuranga Sajith Gunaratne

IPC: G05D1/00 ,  G05D1/02 ,  G01S17/93 ,  G01S13/931 ,  G01S15/931

Abstract: Sensor data is received from an array of sensors configured to capture one or more objects in an external environment of an autonomous vehicle. A first sensor group is selected from the array of sensors based on proximity data or environmental contexts. First sensor data from the first sensor group is prioritized for transmission based on the proximity data or environmental contexts.

公开(公告)号：US11536801B1

公开(公告)日：2022-12-27

申请号：US17512521

申请日：2021-10-27

Applicant: Aurora Operations, Inc.

Inventor： Chunshu Li ,  Stephen Crouch

IPC: G01S7/35 ,  G01S13/34 ,  B60W60/00 ,  G01S13/931 ,  G01S7/40

Abstract: A vehicle radar sensor utilizes Frequency Modulated Continuous Wave (FMCW) radar signals that incorporate non-uniform FMCW chirps having chirp profiles that differ from one another to sense one or more parameters of one or more objects in a field of view of the radar sensor. The chirp profiles may differ from one another in various manners, e.g., based on starting frequency, repetition interval, duration and/or slope, and among other advantages, may be used to enhance sensing of various parameters such as range, Doppler/velocity and/or angle.