公开(公告)号：US12130624B2

公开(公告)日：2024-10-29

申请号：US17585650

申请日：2022-01-27

Applicant: Aurora Operations, Inc.

Inventor： Michael Lee Phillips ,  Don Burnette ,  Kalin Vasilev Gochev ,  Somchaya Liemhetcharat ,  Harishma Dayanidhi ,  Eric Michael Perko ,  Eric Lloyd Wilkinson ,  Colin Jeffrey Green ,  Wei Liu ,  Anthony Joseph Stentz ,  David Mcallister Bradley ,  Samuel Philip Marden

IPC: G05D1/00 ,  B60W30/095 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18 ,  B60W50/00 ,  G01C21/20 ,  G01C21/34 ,  G05D1/02

CPC classification number: G05D1/0088 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  G01C21/20 ,  G01C21/3453 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0221 ,  G05D1/0223 ,  B60W2554/00

Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can generate constraints based on where objects of interest are predicted to be relative to an autonomous vehicle. A constraint solver can identify navigation decisions for each of the constraints that provide a consistent solution across all constraints. The solution provided by the constraint solver can be in the form of a trajectory path determined relative to constraint areas for all objects of interest. The trajectory path represents a set of navigation decisions such that a navigation decision relative to one constraint doesn't sacrifice an ability to satisfy a different navigation decision relative to one or more other constraints.

公开(公告)号：US12287634B2

公开(公告)日：2025-04-29

申请号：US17665957

申请日：2022-02-07

Applicant: Aurora Operations, Inc.

Inventor： Edward Henry Lim ,  Eric Michael Perko

IPC: G05D1/02 ,  G05D1/00

Abstract: The present disclosure is directed to deviating from a planned path for an autonomous vehicle. In particular, a computing system comprising one or more computing devices physically located onboard an autonomous vehicle can identify one or more boundaries at least in part defining a lane in which the autonomous vehicle is traveling along a path of a planned route. Responsive to identifying one or more obstructions ahead of the autonomous vehicle along the path, the computing system can: determine one or more deviations from the path that would result in the autonomous vehicle avoiding the obstruction(s) and at least partially crossing at least one of the one or more boundaries; and generate, based at least in part on the deviation(s), a motion plan instructing the autonomous vehicle to deviate from the path such that it avoids the obstruction(s) and continues traveling along the planned route.

公开(公告)号：US20240239377A1

公开(公告)日：2024-07-18

申请号：US18611175

申请日：2024-03-20

Applicant: Aurora Operations, Inc.

Inventor： Brian C. Becker ,  Michael Lee Phillips ,  Yang Xu ,  Eric Michael Perko ,  Narek Melik-Barkhudarov

IPC: B60W60/00 ,  B60W30/085 ,  G06V10/762 ,  G06V20/58 ,  G06V40/10 ,  G08G1/16

CPC classification number: B60W60/0018 ,  B60W30/085 ,  G06V10/762 ,  G06V20/58 ,  G06V40/10 ,  G08G1/166 ,  B60W2554/4029

Abstract: Systems and methods for controlling autonomous vehicle are provided. A method can include obtaining, by a computing system, data indicative of a plurality of objects in a surrounding environment of the autonomous vehicle. The method can further include determining, by the computing system, one or more clusters of the objects based at least in part on the data indicative of the plurality of objects. The method can further include determining, by the computing system, whether to enter an operation mode having one or more limited operational capabilities based at least in part on one or more properties of the one or more clusters. In response to determining that the operation mode is to be entered by the autonomous vehicle, the method can include controlling, by the computing system, the operation of the autonomous vehicle based at least in part on the one or more limited operational capabilities.