公开(公告)号：US12044535B2

公开(公告)日：2024-07-23

申请号：US18309256

申请日：2023-04-28

Applicant: Aurora Operations, Inc.

Inventor： Rachel Ahn ,  David Prasser ,  Peter Hansen ,  Robert Zlot

IPC: G01C21/32 ,  G01C21/30 ,  G01S19/45

CPC classification number: G01C21/32 ,  G01C21/30 ,  G01S19/45

Abstract: Various examples are directed to systems and methods for locating a vehicle. A pose state estimator may access a previous position for the vehicle at a first time, wherein the previous position is on a first sub-map of a plurality of sub-maps. The pose state estimator may receive from a first localizer a first position estimate for the vehicle at a second time after the first time. The first position estimate may be on a second sub-map of the plurality of sub-maps. The pose state estimator may send to a second localizer a sub-map change message indicating the second sub-map.

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.

公开(公告)号：US20240418514A1

公开(公告)日：2024-12-19

申请号：US18749093

申请日：2024-06-20

Applicant: Aurora OPerations, Inc.

Inventor： Rachel Ahn ,  David Prasser ,  Peter Hansen ,  Robert Zlot

IPC: G01C21/32 ,  G01C21/30 ,  G01S19/45

Abstract: Various examples are directed to systems and methods for locating a vehicle. A pose state estimator may access a previous position for the vehicle at a first time, wherein the previous position is on a first sub-map of a plurality of sub-maps. The pose state estimator may receive from a first localizer a first position estimate for the vehicle at a second time after the first time. The first position estimate may be on a second sub-map of the plurality of sub-maps. The pose state estimator may send to a second localizer a sub-map change message indicating the second sub-map.