公开(公告)号：US20250091604A1

公开(公告)日：2025-03-20

申请号：US18468072

申请日：2023-09-15

Applicant: Aurora Operations, Inc.

Inventor： James Jackson ,  Daniel Koch ,  Michael Samples ,  David Wheeler ,  Robert Zlot

IPC: B60W60/00

Abstract: A computing system can obtain, through one or more sensor systems onboard an autonomous vehicle, a motion input, a surface element registration input representing one or more tracked surface elements, and a lane alignment input representing one or more lane boundaries. The computing system can provide the motion input, the surface element registration input, and the lane alignment input to a pose estimation system including a localization filter. The pose estimation system can generate one or more pose states of the autonomous vehicle, including a local pose and a global pose. The computing system can determine a motion plan for the autonomous vehicle based on the one or more pose states.