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    Planning with dynamic state a trajectory of an autonomous vehicle
    1.
    发明授权
    Planning with dynamic state a trajectory of an autonomous vehicle 有权

    公开(公告)号：US12060083B2

    公开(公告)日：2024-08-13

    申请号：US17239155

    申请日：2021-04-23

    Applicant: MOTIONAL AD LLC

    Inventor： Scott Drew Pendleton ,  Hans Andersen

    IPC: B60W60/00 ,  B60W30/09

    CPC classification number: B60W60/0027 ,  B60W30/09 ,  B60W60/0016 ,  B60W2554/4029 ,  B60W2554/408 ,  B60W2554/80

    Abstract: This disclosure describes an autonomous vehicle configured to obtain sensor data associated with objects proximate a projected route of the autonomous vehicle, determine static constraints that limit a trajectory of the autonomous vehicle along the projected route based on non-temporal risks associated with a first subset of the f objects, predict a position and speed of the autonomous vehicle as a function of time along the projected route based on the static constraints, identify temporal risks associated with a second subset of the objects based on the predicted position and speed of the autonomous vehicle, determine dynamic constraints that further limit the trajectory of the autonomous vehicle along the projected route to help the autonomous vehicle avoid the temporal risks associated with the second subset of the objects, and adjust the trajectory of the autonomous vehicle in accordance with the static constraints and the dynamic constraints.

    CORRIDOR/HOMOTOPY SCORING AND VALIDATION
    2.
    发明公开
    CORRIDOR/HOMOTOPY SCORING AND VALIDATION 审中-公开

    公开(公告)号：US20240025452A1

    公开(公告)日：2024-01-25

    申请号：US17814503

    申请日：2022-07-22

    Applicant: Motional AD LLC

    Inventor： Scott Drew Pendleton ,  Hans Andersen ,  Juraj Kabzan ,  Titus Chua

    IPC: B60W60/00 ,  B60W40/04

    CPC classification number: B60W60/0027 ,  B60W60/0013 ,  B60W40/04 ,  B60W60/0015 ,  B60W60/0011

    Abstract: Provided are methods and systems for corridor/homotopy scoring and validation. A method for operating an autonomous vehicle, is provided. The method includes obtaining sensor data associated with an environment in which an autonomous vehicle is operating and determining, by the at least one processor, a set of agents in the environment based on the sensor data. The method includes determining, by the at least one processor, a plurality of sets of navigation options for the autonomous vehicle, wherein each set of navigation options includes a first navigation option and a second navigation option, and wherein at least one set of navigation options is associated with at least one agent of the set of agents. The method includes selecting a plurality of navigation options from the plurality of sets of navigation options and generating a corridor for the autonomous vehicle based on the plurality of selected navigation options.

    ELECTRIC POWER STEERING TORQUE COMPENSATION
    3.
    发明申请
    ELECTRIC POWER STEERING TORQUE COMPENSATION 有权

    公开(公告)号：US20210347408A1

    公开(公告)日：2021-11-11

    申请号：US17328905

    申请日：2021-05-24

    Applicant: Motional AD LLC

    Inventor： Ning Wu ,  Hans Andersen ,  Francesco Seccamonte

    IPC: B62D6/04 ,  B62D5/04 ,  B62D15/02 ,  B62D1/28

    Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.

    GRAPH EXPLORATION FORWARD SEARCH
    5.
    发明公开
    GRAPH EXPLORATION FORWARD SEARCH 审中-公开

    公开(公告)号：US20240125608A1

    公开(公告)日：2024-04-18

    申请号：US18152047

    申请日：2023-01-09

    Applicant: Motional AD LLC

    Inventor： Hans Andersen ,  Bence Cserna

    IPC: G01C21/34 ,  G06N5/022

    CPC classification number: G01C21/3492 ,  G06N5/022

    Abstract: Provided are methods for graph forward search exploration, which can include detecting a plurality of obstacles along a first trajectory of a vehicle. Some methods described also include determining a plurality of valid combinations of a plurality of trajectories to handle the plurality of obstacles. Some methods described also include generating a reduced decision tree based at least on the valid combinations of the plurality of trajectories by at least excluding a second trajectory of the plurality of trajectories associated with an obstacle of a plurality of obstacles based on a position of the obstacle being outside of a corridor defined by a spatial range and/or a temporal range. Some methods described also include selecting an optimal trajectory of the vehicle from the plurality of trajectories of the reduced decision tree. Systems and computer program products are also provided.

    PATH GENERATION BASED ON PREDICTED ACTIONS
    8.
    发明公开
    PATH GENERATION BASED ON PREDICTED ACTIONS 审中-公开

    公开(公告)号：US20240025444A1

    公开(公告)日：2024-01-25

    申请号：US17814509

    申请日：2022-07-22

    Applicant: Motional AD LLC

    Inventor： Sammy Omari ,  Kevin C. Gall ,  Juraj Kabzan ,  Hans Andersen ,  Bence Cserna ,  Scott Drew Pendleton

    IPC: B60W60/00 ,  G06V20/58 ,  G06V20/70

    CPC classification number: B60W60/0015 ,  G06V20/58 ,  G06V20/70 ,  G06V2201/08 ,  G06V10/82

    Abstract: Provided are methods and systems for semantic behavior filtering for prediction improvement. A method for operating an autonomous vehicle is provided. The method includes obtaining, by at least one processor, semantic image data associated with an environment in which an autonomous vehicle is operating. The method includes determining, by the at least one processor a set of agents in the environment based on the semantic image data. The method includes determining, by the at least one processor, a set of secondary agents from the set of agents based on a relative location of a respective secondary agent to a respective object and a set of object semantic behavior data associated with the respective object. The method includes determining, from the set of agents, a set of primary agents other than secondary agents. The method includes generating a path for the autonomous vehicle based on the set of primary agents.

    PATH GENERATION BASED ON PREDICTED ACTIONS
    9.
    发明公开
    PATH GENERATION BASED ON PREDICTED ACTIONS 审中-公开

    公开(公告)号：US20240025395A1

    公开(公告)日：2024-01-25

    申请号：US17814505

    申请日：2022-07-22

    Applicant: Motional AD LLC

    Inventor： Sammy Omari ,  Kevin C. Gall ,  Juraj Kabzan ,  Hans Andersen ,  Bence Cserna ,  Scott Drew Pendleton

    IPC: B60W30/09 ,  G06V20/58 ,  B60W60/00 ,  B60W30/095

    CPC classification number: B60W30/09 ,  G06V20/58 ,  B60W60/0015 ,  B60W30/0956 ,  B60W30/0953 ,  B60W60/0027 ,  B60W10/20

    Abstract: Provided are methods and systems for semantic behavior filtering for prediction improvement. A method for operating an autonomous vehicle is provided. The method includes obtaining, by at least one processor, semantic image data associated with an environment in which an autonomous vehicle is operating. The method includes determining, by the at least one processor, at least one agent in the environment. The method includes determining a predicted action for the at least one agent. The method includes determining an agent predicted path for the at least one agent. The method includes determining a vehicle path of the autonomous vehicle. The method includes determining a predicted collision of the at least one agent and the autonomous vehicle. The method includes simulating actions to avoid the predicted collision. The method includes categorizing the predicted collision as a primary predicted collision based on the simulating actions.

    Electric power steering torque compensation
    10.
    发明授权
    Electric power steering torque compensation 有权

    公开(公告)号：US11014606B2

    公开(公告)日：2021-05-25

    申请号：US16776422

    申请日：2020-01-29

    Applicant: Motional AD LLC

    Inventor： Ning Wu ,  Hans Andersen ,  Francesco Seccamonte

    IPC: B62D6/04 ,  B62D5/04 ,  B62D15/02 ,  B62D1/28 ,  B62D6/00 ,  B60W50/00

    Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.

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