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公开(公告)号：US11713978B2
公开(公告)日：2023-08-01
申请号：US17008100
申请日：2020-08-31
Applicant: NVIDIA Corporation
Inventor： Amir Akbarzadeh , David Nister , Ruchi Bhargava , Birgit Henke , Ivana Stojanovic , Yu Sheng
CPC classification number: G01C21/3841 , G01C21/1652 , G01C21/3811 , G01C21/3867 , G01C21/3878 , G01C21/3896 , G06N3/02
Abstract: An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.
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公开(公告)号：US20230037767A1
公开(公告)日：2023-02-09
申请号：US17395318
申请日：2021-08-05
Applicant: NVIDIA Corporation
Inventor： Fangkai Yang , David Nister , Yizhou Wang , Rotem Aviv , Julia Ng , Birgit Henke , Hon Leung Lee , Yunfei Shi
IPC: B60W60/00 , G08G1/0967 , B60W30/18
Abstract: In various examples, a yield scenario may be identified for a first vehicle. A wait element is received that encodes a first path for the first vehicle to traverse a yield area and a second path for a second vehicle to traverse the yield area. The first path is employed to determine a first trajectory in the yield area for the first vehicle based at least on a first location of the first vehicle at a time and the second path is employed to determine a second trajectory in the yield area for the second vehicle based at least on a second location of the second vehicle at the time. To operate the first vehicle in accordance with a wait state, it may be determined whether there is a conflict between the first trajectory and the second trajectory, where the wait state defines a yielding behavior for the first vehicle.
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公开(公告)号：US20210253128A1
公开(公告)日：2021-08-19
申请号：US17178464
申请日：2021-02-18
Applicant: NVIDIA Corporation
Inventor： David Nister , Yizhou Wang , Julia Ng , Rotem Aviv , Seungho Lee , Joshua John Bialkowski , Hon Leung Lee , Hermes Lanker , Raul Correal Tezanos , Zhenyi Zhang , Nikolai Smolyanskiy , Alexey Kamenev , Ollin Boer Bohan , Anton Vorontsov , Miguel Sainz Serra , Birgit Henke
Abstract: Embodiments of the present disclosure relate to behavior planning for autonomous vehicles. The technology described herein selects a preferred trajectory for an autonomous vehicle based on an evaluation of multiple hypothetical trajectories by different components within a planning system. The various components provide an optimization score for each trajectory according to the priorities of the component and scores from multiple components may form a final optimization score. This scoring system allows the competing priorities (e.g., comfort, minimal travel time, fuel economy) of different components to be considered together. In examples, the trajectory with the best combined score may be selected for implementation. As such, an iterative approach that evaluates various factors may be used to identify an optimal or preferred trajectory for an autonomous vehicle when navigating an environment.
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Patent Agency Ranking
公开(公告)号：US12292495B2
公开(公告)日：2025-05-06
申请号：US17655783
申请日：2022-03-21
Applicant: NVIDIA CORPORATION
Inventor： Amir Akbarzadeh , Andrew Carley , Birgit Henke , Si Lu , Ivana Stojanovic , Jugnu Agrawal , Michael Kroepfl , Yu Sheng , David Nister , Enliang Zheng
IPC: G01S13/04 , B60W40/10 , B60W40/12 , B60W60/00 , G01S7/00 , G01S7/40 , G01S13/86 , G01S13/89 , G01S13/931 , G01S17/04 , G01S17/931 , G06T7/73 , G06V10/26 , G06V10/28
Abstract: One or more embodiments of the present disclosure relate to generation of map data. In these or other embodiments, the generation of the map data may include determining whether objects indicated by the sensor data are static objects or dynamic objects. Additionally or alternatively, sensor data may be removed or included in the map data based on determinations as to whether it corresponds to static objects or dynamic objects.
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公开(公告)号：US12189018B2
公开(公告)日：2025-01-07
申请号：US17655778
申请日：2022-03-21
Applicant: NVIDIA CORPORATION
Inventor： Amir Akbarzadeh , Andrew Carley , Birgit Henke , Si Lu , Ivana Stojanovic , Jugnu Agrawal , Michael Kroepfl , Yu Sheng , David Nister , Enliang Zheng , Niharika Arora
IPC: G01S13/04 , B60W40/10 , B60W40/12 , B60W60/00 , G01S7/00 , G01S7/40 , G01S13/86 , G01S13/89 , G01S13/931 , G01S17/04 , G01S17/931 , G06T7/73 , G06V10/26 , G06V10/28
Abstract: One or more embodiments of the present disclosure relate to generating RADAR (RAdio Detection And Ranging) point clouds based on RADAR data obtained from one or more RADAR sensors disposed on one or more ego-machines. In these or other embodiments, the RADAR point clouds may be communicated to a distributed map system that is configured to generate map data based on the RADAR point clouds. In some embodiments of the present disclosure, certain compression operations may be performed on the RADAR point clouds to reduce the amount of data that is communicated from the ego-machines to the map system.
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公开(公告)号：US11926346B2
公开(公告)日：2024-03-12
申请号：US17395318
申请日：2021-08-05
Applicant: NVIDIA Corporation
Inventor： Fangkai Yang , David Nister , Yizhou Wang , Rotem Aviv , Julia Ng , Birgit Henke , Hon Leung Lee , Yunfei Shi
IPC: B60W60/00 , B60W30/18 , G08G1/0967
CPC classification number: B60W60/0027 , B60W30/18154 , B60W30/18159 , G08G1/096725 , B60W2420/42 , B60W2420/52 , B60W2552/05
Abstract: In various examples, a yield scenario may be identified for a first vehicle. A wait element is received that encodes a first path for the first vehicle to traverse a yield area and a second path for a second vehicle to traverse the yield area. The first path is employed to determine a first trajectory in the yield area for the first vehicle based at least on a first location of the first vehicle at a time and the second path is employed to determine a second trajectory in the yield area for the second vehicle based at least on a second location of the second vehicle at the time. To operate the first vehicle in accordance with a wait state, it may be determined whether there is a conflict between the first trajectory and the second trajectory, where the wait state defines a yielding behavior for the first vehicle.
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公开(公告)号：US20230341234A1
公开(公告)日：2023-10-26
申请号：US17725175
申请日：2022-04-20
Applicant: NVIDIA Corporation
Inventor： David Nister , Hon Leung Lee , Yizhou Wang , Rotem Aviv , Birgit Henke , Julia Ng , Amir Akbarzadeh
CPC classification number: G01C21/3658 , G01C21/3446 , G01C21/3453 , B60W60/001 , B60W2556/40
Abstract: In various examples, a lane planner for generating lane planner output data based on a state and probabilistic action space is provided. A driving system—that operates based on a hierarchical drive planning framework—includes the lane planner and other planning and control components. The lane planner processes lane planner input data (e.g., large lane graph, source node, target node) to generate lane planner output data (e.g., expected time rewards). The driving system can also include a route planner (e.g., a first planning layer) that operates to provide the lane planner input data to the lane planner. The lane planner operates as second planning layer that processes the lane planner input data based at least in part on a state and probabilistic action space of the large lane graph and calculates a time cost associated with navigating from a source node to a target node in the large lane graph.
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公开(公告)号：US11698272B2
公开(公告)日：2023-07-11
申请号：US17007873
申请日：2020-08-31
Applicant: NVIDIA Corporation
Inventor： Michael Kroepfl , Amir Akbarzadeh , Ruchi Bhargava , Vaibhav Thukral , Neda Cvijetic , Vadim Cugunovs , David Nister , Birgit Henke , Ibrahim Eden , Youding Zhu , Michael Grabner , Ivana Stojanovic , Yu Sheng , Jeffrey Liu , Enliang Zheng , Jordan Marr , Andrew Carley
CPC classification number: G01C21/3841 , G01C21/1652 , G01C21/3811 , G01C21/3867 , G01C21/3878 , G01C21/3896 , G06N3/02
Abstract: An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.
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