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公开(公告)号：US20240300525A1
公开(公告)日：2024-09-12
申请号：US18269209
申请日：2021-12-17
Applicant: Aurora Operations, Inc.
Inventor： James Andrew Bagnell , Arun Venkatraman , Sanjiban Choudhury , Venkatraman Narayanan
CPC classification number: B60W60/001 , G06N20/00 , B60W2554/4026 , B60W2554/4029 , B60W2556/10
Abstract: Systems and methods related to controlling an autonomous vehicle (“AV”) are described herein. Implementations can process actor(s) from a past episode of locomotion of a vehicle, and stream(s) in an environment of the vehicle during the past episode to generate predicted output(s). The actor(s) may each be associated with a corresponding object in the environment of the vehicle, and the stream(s) may each represent candidate navigation paths in the environment of the vehicle. Further, implementations can process the predicted output(s) to generate further predicted output(s), and can compare the predicted output(s) to associated reference label(s). The processing can be performed utilizing layer(s) or distinct, additional layer(s) of machine learning (“ML”) model(s). Implementations can update the layer(s) or the additional layer(s) based on the comparing, and subsequently use the ML model(s) in controlling the AV.
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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：US20240166237A1
公开(公告)日：2024-05-23
申请号：US18465132
申请日：2023-09-11
Applicant: Aurora Operations, Inc.
Inventor： James Andrew Bagnell , Shervin Javdani , Venkatraman Narayanan
CPC classification number: B60W60/0011 , B60W40/04
Abstract: Example methods for multistage autonomous vehicle motion planning include obtaining sensor data descriptive of an environment of the autonomous vehicle; identifying one or more objects in the environment based on the sensor data; generating a plurality of candidate strategies, wherein each candidate strategy of the plurality of candidate strategies comprises a set of discrete decisions respecting the one or more objects, wherein generating the plurality of candidate strategies includes: determining that at least two strategies satisfy an equivalence criterion, such that the plurality of candidate strategies include at least one candidate strategy corresponding to an equivalence class representative of a plurality of different strategies that are based on different discrete decisions; determining candidate trajectories respectively for the plurality of candidate strategies; and initiating control of the autonomous vehicle based on a selected candidate trajectory.
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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：US11787439B1
公开(公告)日：2023-10-17
申请号：US17989898
申请日：2022-11-18
Applicant: Aurora Operations, Inc.
Inventor： James Andrew Bagnell , Shervin Javdani , Venkatraman Narayanan
Abstract: Example methods for multistage autonomous vehicle motion planning include obtaining sensor data descriptive of an environment of the autonomous vehicle; identifying one or more objects in the environment based on the sensor data; generating a plurality of candidate strategies, wherein each candidate strategy of the plurality of candidate strategies comprises a set of discrete decisions respecting the one or more objects, wherein generating the plurality of candidate strategies includes: determining that at least two strategies satisfy an equivalence criterion, such that the plurality of candidate strategies include at least one candidate strategy corresponding to an equivalence class representative of a plurality of different strategies that are based on different discrete decisions; determining candidate trajectories respectively for the plurality of candidate strategies; and initiating control of the autonomous vehicle based on a selected candidate trajectory.
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Patent Agency Ranking
公开(公告)号：US11952015B2
公开(公告)日：2024-04-09
申请号：US17522031
申请日：2021-11-09
Applicant: Aurora Operations, Inc.
Inventor： James Andrew Bagnell , Sanjiban Choudhury , Venkatraman Narayanan , Arun Venkatraman
CPC classification number: B60W60/0027 , B60W50/00 , B60W60/0011 , G06N20/00 , G06V20/584
Abstract: Implementations process, using machine learning (ML) layer(s) of ML model(s), actor(s) from a past episode of locomotion of a vehicle and stream(s) in an environment of the vehicle during the past episode to forecast associated trajectories, for the vehicle and for each of the actor(s), with respect to a respective associated stream of the stream(s). Further, implementations process, using a stream connection function, the associated trajectories to forecast a plurality of associated trajectories, for the vehicle and each of the actor(s), with respect to each of the stream(s). Moreover, implementations iterate between using the ML layer(s) and the stream connection function to update the associated trajectories for the vehicle and each of the actor(s). Implementations subsequently use the ML layer(s) in controlling an AV.
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公开(公告)号：US20240043037A1
公开(公告)日：2024-02-08
申请号：US18269200
申请日：2021-12-17
Applicant: Aurora Operations, Inc.
Inventor： James Andrew Bagnell , Arun Venkatraman , Sanjiban Choudhury , Venkatraman Narayanan
CPC classification number: B60W60/0011 , B60W60/0027 , G06N3/044 , G06N3/084 , B60W2554/80 , B60W2556/10 , B60W2554/4041
Abstract: Systems and methods related to controlling an autonomous vehicle (“AV”) are described herein. Implementations can obtain a plurality of instances that each include input and output. The input can include actor(s) from a given time instance of a past episode of locomotion of a vehicle, and stream(s) in an environment of the vehicle during the past episode. The actor(s) may be associated with an object in the environment of the vehicle at the given time instance, and the stream(s) may each represent candidate navigation paths in the environment of the vehicle. The output may include ground truth label(s) (or reference label(s)). Implementations can train a machine learning (“ML”) model based on the plurality of instances, and subsequently use the ML model in controlling the AV. In training the ML model, the actor(s) and stream(s) can be processed in parallel.
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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：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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