公开(公告)号：US20220107641A1

公开(公告)日：2022-04-07

申请号：US17553209

申请日：2021-12-16

Applicant: Aurora Operations, Inc.

Inventor： Jean-Sebastien Valois ,  Ethan Eade

IPC: G05D1/00 ,  G05D1/02 ,  G06N20/00

Abstract: Sensor data collected from an autonomous vehicle data can be labeled using sensor data collected from an additional vehicle. The additional vehicle can include a non-autonomous vehicle mounted with a removable hardware pod. In many implementations, removable hardware pods can be vehicle agnostic. In many implementations, generated labels can be utilized to train a machine learning model which can generate one or more control signals for the autonomous vehicle.

公开(公告)号：US20240217520A1

公开(公告)日：2024-07-04

申请号：US18601710

申请日：2024-03-11

Applicant: Aurora Operations, Inc.

Inventor： Warren Smith ,  Ethan Eade ,  Sterling J. Anderson ,  James Andrew Bagnell ,  Bartholomeus C. Nabbe ,  Christopher Paul Urmson

IPC: B60W40/04 ,  B60W30/095 ,  G01S17/89 ,  G01S17/931 ,  G06F18/21 ,  G06F18/214 ,  G06N20/00

CPC classification number: B60W40/04 ,  B60W30/0956 ,  G01S17/89 ,  G01S17/931 ,  G06F18/214 ,  G06F18/2178 ,  G06N20/00 ,  B60W2554/4041 ,  B60W2554/803

Abstract: Determining an instantaneous vehicle characteristic (e.g., at least one yaw rate) of an additional vehicle that is in addition to a vehicle being autonomously controlled, and adapting autonomous control of the vehicle based on the determined instantaneous vehicle characteristic of the additional vehicle. For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be adapted based on a determined instantaneous vehicle characteristic of the additional vehicle. In many implementations, the instantaneous vehicle characteristics of the additional vehicle are determined based on data from a phase coherent Light Detection and Ranging (LIDAR) component of the vehicle, such as a phase coherent LIDAR monopulse component and/or a frequency-modulated continuous wave (FMCW) LIDAR component.

公开(公告)号：US11964663B2

公开(公告)日：2024-04-23

申请号：US18133509

申请日：2023-04-11

Applicant: Aurora Operations, Inc.

Inventor： Warren Smith ,  Ethan Eade ,  Sterling J. Anderson ,  James Andrew Bagnell ,  Bartholomeus C. Nabbe ,  Christopher Paul Urmson

IPC: B60W40/04 ,  B60W30/095 ,  G01S17/89 ,  G01S17/931 ,  G05D1/00 ,  G05D1/02 ,  G06F18/21 ,  G06F18/214 ,  G06N20/00

CPC classification number: B60W40/04 ,  B60W30/0956 ,  G01S17/89 ,  G01S17/931 ,  G05D1/0088 ,  G05D1/024 ,  G06F18/214 ,  G06F18/2178 ,  G06N20/00 ,  B60W2554/4041 ,  B60W2554/803

Abstract: Determining an instantaneous vehicle characteristic (e.g., at least one yaw rate) of an additional vehicle that is in addition to a vehicle being autonomously controlled, and adapting autonomous control of the vehicle based on the determined instantaneous vehicle characteristic of the additional vehicle. For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be adapted based on a determined instantaneous vehicle characteristic of the additional vehicle. In many implementations, the instantaneous vehicle characteristics of the additional vehicle are determined based on data from a phase coherent Light Detection and Ranging (LIDAR) component of the vehicle, such as a phase coherent LIDAR monopulse component and/or a frequency-modulated continuous wave (FMCW) LIDAR component.

公开(公告)号：US11874660B2

公开(公告)日：2024-01-16

申请号：US17832359

申请日：2022-06-03

Applicant: Aurora Operations, Inc.

Inventor： Ethan Eade ,  Nathaniel Gist, IV ,  Thomas Pilarski

IPC: B60G17/016 ,  G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0077 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0257

Abstract: An autonomous vehicle uses a secondary vehicle control system to supplement a primary vehicle control system to perform a controlled stop if an adverse event is detected in the primary vehicle control system. The secondary vehicle control system may use a redundant lateral velocity determined by a different sensor from that used by the primary vehicle control system to determine lateral velocity for use in controlling the autonomous vehicle to perform the controlled stop.

公开(公告)号：US11630458B2

公开(公告)日：2023-04-18

申请号：US17553209

申请日：2021-12-16

Applicant: Aurora Operations, Inc.

Inventor： Jean-Sebastien Valois ,  Ethan Eade

IPC: G05D1/02 ,  G06N20/00 ,  G05D1/00

Abstract: Sensor data collected from an autonomous vehicle data can be labeled using sensor data collected from an additional vehicle. The additional vehicle can include a non-autonomous vehicle mounted with a removable hardware pod. In many implementations, removable hardware pods can be vehicle agnostic. In many implementations, generated labels can be utilized to train a machine learning model which can generate one or more control signals for the autonomous vehicle.

公开(公告)号：US11623658B1

公开(公告)日：2023-04-11

申请号：US17840218

申请日：2022-06-14

Applicant: Aurora Operations, Inc.

Inventor： Jake Charland ,  Ethan Eade ,  Karthik Lakshmanan ,  Daniel Munoz ,  Samuel Sean ,  Yuchen Xie ,  Luona Yang

IPC: B60W60/00 ,  G06T15/08

Abstract: A method may include obtaining sensor data that include a plurality of sensor returns from an environment of an autonomous vehicle. A first set of features may be extracted from the sensor data. The first set of features may be processed with a machine learning model to generate, for at least a subset of the plurality of sensor returns, a first output that classifies a respective sensor return as corresponding to an object or non-object and a second output that indicates a property of the object. The sensor returns classified as corresponding to objects may be compared to a plurality of pre-classified objects to generate one or more generic object classifications. The autonomous vehicle may be controlled based at least in part on the one or more generic object classifications.

公开(公告)号：US11526538B2

公开(公告)日：2022-12-13

申请号：US17674510

申请日：2022-02-17

Applicant: Aurora Operations, Inc.

Inventor： Ethan Eade ,  Michael Bode ,  James Andrew Bagnell

IPC: G01C21/00 ,  G06F16/29 ,  G06T7/168 ,  G06F16/28 ,  G06T7/12 ,  G01C21/26 ,  G05D1/02 ,  G01C21/30 ,  G06V20/58 ,  G06V20/56

Abstract: A relative atlas graph maintains mapping data used by an autonomous vehicle. The relative atlas graph may be generated for a geographical area based on observations collected from the geographical area, and may include element nodes corresponding to elements detected from the observations along with edges that connect pairs of element nodes and define relative poses between the elements for connected pairs of element nodes, as well as relations that connect multiple element nodes to define logical relationships therebetween.

公开(公告)号：US20220171797A1

公开(公告)日：2022-06-02

申请号：US17674510

申请日：2022-02-17

Applicant: Aurora Operations, Inc.

Inventor： Ethan Eade ,  Michael Bode ,  James Andrew Bagnell

IPC: G06F16/29 ,  G06T7/168 ,  G06F16/28 ,  G06T7/12 ,  G01C21/26 ,  G05D1/02 ,  G01C21/30 ,  G06V20/58 ,  G06V20/56

Abstract: A relative atlas graph maintains mapping data used by an autonomous vehicle. The relative atlas graph may be generated for a geographical area based on observations collected from the geographical area, and may include element nodes corresponding to elements detected from the observations along with edges that connect pairs of element nodes and define relative poses between the elements for connected pairs of element nodes, as well as relations that connect multiple element nodes to define logical relationships therebetween.