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    ALTITUDE SMOOTHING
    1.
    发明公开
    ALTITUDE SMOOTHING 审中-公开

    公开(公告)号：US20240094026A1

    公开(公告)日：2024-03-21

    申请号：US18141042

    申请日：2023-04-28

    申请人： EMBARK TRUCKS INC.

    发明人： Grady D. WILLIAMS ,  Phillip James HAEUSLER

    IPC分类号： G01C21/00

    CPC分类号： G01C21/3822 ,  G06V20/58

    摘要： A system and method including receiving a digital representation of a road that includes one or more lane representations; defining a factor graph including variable nodes and constraint nodes that encode lane boundary constraints for the lane map; translating the factor graph into a nonlinear optimization problem for altitudes of the lane map; generating a solution to the optimization problem; and generating a corrected lane map with an optimized altitude for the road based on the generated solution.

    LANE CHANGE DETERMINATION FOR VEHICLE ON SHOULDER
    3.
    发明公开
    LANE CHANGE DETERMINATION FOR VEHICLE ON SHOULDER 审中-公开

    公开(公告)号：US20230303119A1

    公开(公告)日：2023-09-28

    申请号：US17704172

    申请日：2022-03-25

    申请人： EMBARK TRUCKS INC.

    发明人： Mark Liu ,  Roya Sabbagh Novin

    IPC分类号： B60W60/00 ,  B60W30/18

    CPC分类号： B60W60/0015 ,  B60W30/18163 ,  B60W2552/10 ,  B60W2554/801 ,  B60W2555/60 ,  B60W2720/106

    摘要： Provided is a system and method that can control a speed of an autonomous vehicle when approaching a vehicle on a shoulder based on a piecewise linear function. Further, the system and method may determine whether to perform a lane change based on various factors. In one example, the method may include storing a piecewise linear function, detecting a vehicle on a shoulder (VOS) of a road based on sensor data sensed by one or more sensors of an ego vehicle approaching the VOS, determining that the VOS is within a predefined distance of the ego vehicle, and in response to the determination, controlling the ego vehicle to slow down and then speed up based on the piecewise linear function.

    DYNAMICALLY MODIFIABLE MAP
    4.
    发明申请
    DYNAMICALLY MODIFIABLE MAP 有权

    公开(公告)号：US20230016335A1

    公开(公告)日：2023-01-19

    申请号：US17752191

    申请日：2022-05-24

    申请人： EMBARK TRUCKS INC.

    发明人： Grady WILLIAMS

    IPC分类号： B60W30/14 ,  B60W30/18 ,  B60W10/20 ,  G01C21/00

    摘要： Provided are systems and methods for controlling a vehicle based on a map that designed using a factor graph. Because the map is designed using a factor graph, positions of the road can be modified in real-time while operating the vehicle. In one example, the method may include storing a map which is associated with a factor graph of variable nodes representing a plurality of constraints that define positions of lane lines in a road and factor nodes between the variable nodes on the factor graph which define positioning constraints amongst the variable nodes, receiving an indication from the road using a sensor of a vehicle, updating positions of the variable nodes based on the indication and an estimated location of the vehicle within the map, and issue commands capable of controlling a steering operation of the vehicle based on the updated positions of the factor nodes.

    AUTONOMOUS VEHICLE AUTOMATED SCENARIO CHARACTERIZATION
    10.
    发明申请
    AUTONOMOUS VEHICLE AUTOMATED SCENARIO CHARACTERIZATION 有权

    公开(公告)号：US20230102929A1

    公开(公告)日：2023-03-30

    申请号：US17484550

    申请日：2021-09-24

    申请人： EMBARK TRUCKS, INC.

    发明人： Marcus Sjolin ,  David Watson

    IPC分类号： B60W50/06 ,  G07C5/00 ,  B60W50/02 ,  B60W40/04 ,  B60W60/00 ,  B60W30/18

    摘要： A system and method including receiving a plurality of messages generated by a vehicle, each of the messages being associated with an indicated topic; initializing one or more state machines, each state machine preconfigured with a one or more specified state parameters to define a specific scenario, the initializing commencing an execution of the one or more state machines; querying the plurality of messages by the one or more state machines, each state machine querying for messages having an indicated topic associated with the querying state machine; updating, at one or more of a sequence of time intervals of a time period, the one or more state machines based on state transitions determined for each state machine; updating, based on each of the one or more state machines, a scenario record for each of the one or more state machines; and storing the updated scenario record in a data store.