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1.发明授权公开(公告)号：US12091043B2
公开(公告)日：2024-09-17
申请号：US18109113
申请日：2023-02-13
Applicant: Aurora Operations, Inc.
Inventor： Jake Charland , Ethan Eade , Karthik Lakshmanan , Daniel Munoz , Samuel Sean , Yuchen Xie , Luona Yang
CPC classification number: B60W60/001 , G06T15/08 , B60W2420/403 , B60W2420/408 , B60W2510/0638
Abstract: A method may include obtaining lidar data comprising a plurality of lidar returns from an environment of an autonomous vehicle. The lidar data may be processed with a machine learning model to generate, for the plurality of lidar returns, a plurality of first outputs that each identify a respective lidar return as belonging to an object or non-object and a plurality of second outputs that identify lidar returns belonging to objects as harmful or non-harmful to the autonomous vehicle. A subset of the lidar returns identified as belonging to objects that (i) do not correspond to any of a plurality of pre-classified objects and (ii) were identified as harmful to the autonomous vehicle may be determined. The autonomous vehicle may be controlled based at least in part on the subset of lidar returns.
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2.发明公开公开(公告)号：US20240192378A1
公开(公告)日：2024-06-13
申请号：US18415049
申请日：2024-01-17
Applicant: Aurora Operations, Inc.
Inventor： Warren Smith , Ethan Eade , Sterling J. Anderson , James Andrew Bagnell , Bartholomeus C. Nabbe , Christopher Paul Urmson
IPC: G01S17/931 , G06T7/70 , G06V20/58
CPC classification number: G01S17/931 , G06T7/70 , G06V20/58 , G06T2207/10028 , G06T2207/30261
Abstract: Determining classification(s) for object(s) in an environment of autonomous vehicle, and controlling the vehicle based on the determined classification(s). For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be controlled based on determined pose(s) and/or classification(s) for objects in the environment. The control can be based on the pose(s) and/or classification(s) directly, and/or based on movement parameter(s), for the object(s), determined based on the pose(s) and/or classification(s). In many implementations, pose(s) and/or classification(s) of environmental object(s) 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.
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公开(公告)号：US11933902B2
公开(公告)日：2024-03-19
申请号：US18092118
申请日：2022-12-30
Applicant: Aurora Operations, Inc.
Inventor： Warren Smith , Ethan Eade , Sterling J. Anderson , James Andrew Bagnell , Bartholomeus C. Nabbe , Christopher Paul Urmson
IPC: G01S17/931 , G05D1/00 , G05D1/02 , G06T7/70 , G06V20/58
CPC classification number: G01S17/931 , G05D1/0088 , G05D1/024 , G06T7/70 , G06V20/58 , G06T2207/10028 , G06T2207/30261
Abstract: Determining classification(s) for object(s) in an environment of autonomous vehicle, and controlling the vehicle based on the determined classification(s). For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be controlled based on determined pose(s) and/or classification(s) for objects in the environment. The control can be based on the pose(s) and/or classification(s) directly, and/or based on movement parameter(s), for the object(s), determined based on the pose(s) and/or classification(s). In many implementations, pose(s) and/or classification(s) of environmental object(s) 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.
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公开(公告)号：US20250164644A1
公开(公告)日：2025-05-22
申请号：US19031853
申请日：2025-01-18
Applicant: Aurora Operations, Inc.
Inventor： Warren Smith , Ethan Eade , Sterling J. Anderson , James Andrew Bagnell , Bartholomeus C. Nabbe , Christopher Paul Urmson
IPC: G01S17/931 , G05D1/228 , G05D1/247 , G06T7/70 , G06V20/58
Abstract: Determining classification(s) for object(s) in an environment of autonomous vehicle, and controlling the vehicle based on the determined classification(s). For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be controlled based on determined pose(s) and/or classification(s) for objects in the environment. The control can be based on the pose(s) and/or classification(s) directly, and/or based on movement parameter(s), for the object(s), determined based on the pose(s) and/or classification(s). In many implementations, pose(s) and/or classification(s) of environmental object(s) 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.
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公开(公告)号：US20220308580A1
公开(公告)日：2022-09-29
申请号：US17832359
申请日：2022-06-03
Applicant: Aurora Operations, Inc.
Inventor： Ethan Eade , Nathaniel Gist, IV , Thomas Pilarski
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.
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Patent Agency Ranking
公开(公告)号：US20220172371A1
公开(公告)日：2022-06-02
申请号：US17674449
申请日：2022-02-17
Applicant: Aurora Operations, Inc.
Inventor： Ethan Eade , Michael Bode
Abstract: A relative atlas graph is generated to store 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.
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7.发明公开公开(公告)号：US20230373520A1
公开(公告)日：2023-11-23
申请号：US18109113
申请日：2023-02-13
Applicant: Aurora Operations, Inc.
Inventor： Jake Charland , Ethan Eade , Karthik Lakshmanan , Daniel Munoz , Samuel Sean , Yuchen Xie , Luona Yang
CPC classification number: B60W60/001 , G06T15/08 , B60W2420/52 , B60W2510/0638 , B60W2420/42
Abstract: A method may include obtaining lidar data comprising a plurality of lidar returns from an environment of an autonomous vehicle. The lidar data may be processed with a machine learning model to generate, for the plurality of lidar returns, a plurality of first outputs that each identify a respective lidar return as belonging to an object or non-object and a plurality of second outputs that identify lidar returns belonging to objects as harmful or non-harmful to the autonomous vehicle. A subset of the lidar returns identified as belonging to objects that (i) do not correspond to any of a plurality of pre-classified objects and (ii) were identified as harmful to the autonomous vehicle may be determined. The autonomous vehicle may be controlled based at least in part on the subset of lidar returns.
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8.发明公开公开(公告)号：US20230271615A1
公开(公告)日：2023-08-31
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 , G05D1/02 , G05D1/00 , G06N20/00 , G01S17/931 , G01S17/89 , G06F18/214 , G06F18/21
CPC classification number: B60W40/04 , B60W30/0956 , G01S17/89 , G01S17/931 , G05D1/024 , G05D1/0088 , G06F18/214 , G06F18/2178 , G06N20/00 , B60W2554/803 , B60W2554/4041
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.
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公开(公告)号：US20230133611A1
公开(公告)日：2023-05-04
申请号：US18092118
申请日：2022-12-30
Applicant: Aurora Operations, Inc.
Inventor： Warren Smith , Ethan Eade , Sterling J. Anderson , James Andrew Bagnell , Bartholomeus C. Nabbe , Christopher Paul Urmson
IPC: G01S17/931 , G05D1/00 , G05D1/02 , G06T7/70 , G06V20/58
Abstract: Determining classification(s) for object(s) in an environment of autonomous vehicle, and controlling the vehicle based on the determined classification(s). For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be controlled based on determined pose(s) and/or classification(s) for objects in the environment. The control can be based on the pose(s) and/or classification(s) directly, and/or based on movement parameter(s), for the object(s), determined based on the pose(s) and/or classification(s). In many implementations, pose(s) and/or classification(s) of environmental object(s) 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.
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公开(公告)号：US11450007B2
公开(公告)日：2022-09-20
申请号：US17674449
申请日：2022-02-17
Applicant: Aurora Operations, Inc.
Inventor： Ethan Eade , Michael Bode
IPC: G06F16/29 , G01C21/32 , G05D1/00 , G01C21/30 , G01C21/36 , G08G1/00 , G06T7/12 , G06T7/162 , G06F16/28 , G01C21/00 , G01C21/20
Abstract: A relative atlas graph is generated to store 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.
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