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公开(公告)号：US20210063200A1
公开(公告)日：2021-03-04
申请号：US17007873
申请日：2020-08-31
申请人： NVIDIA Corporation
发明人： Michael Kroepfl , Amir Akbarzadeh , Ruchi Bhargava , Vaibhav Thukral , Neda Cvijetic , Vadim Cugunovs , David Nister , Birgit Henke , Ibrahim Eden , Youding Zhu , Michael Grabner , Ivana Stojanovic , Yu Sheng , Jeffrey Liu , Enliang Zheng , Jordan Marr , Andrew Carley
摘要： An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.
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公开(公告)号：US20230130814A1
公开(公告)日：2023-04-27
申请号：US17512495
申请日：2021-10-27
申请人： NVIDIA Corporation
摘要： In examples, autonomous vehicles are enabled to negotiate yield scenarios in a safe and predictable manner. In response to detecting a yield scenario, a wait element data structure is generated that encodes geometries of an ego path, a contender path that includes at least one contention point with the ego path, as well as a state of contention associated with the at least on contention point. Geometry of yield scenario context may also be encoded, such as inside ground of an intersection, entry or exit lines, etc. The wait element data structure is passed to a yield planner of the autonomous vehicle. The yield planner determines a yielding behavior for the autonomous vehicle based at least on the wait element data structure. A control system of the autonomous vehicle may operate the autonomous vehicle in accordance with the yield behavior, such that the autonomous vehicle safely negotiates the yield scenario.
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公开(公告)号：US20240361148A1
公开(公告)日：2024-10-31
申请号：US18769977
申请日：2024-07-11
申请人： NVIDIA Corporation
发明人： Amir Akbarzadeh , Ruchita Bhargava , Bhaven Dedhia , Rambod Jacoby , Jeffrey Liu , Vaibhav Thukral
CPC分类号： G01C21/3859 , G06T1/20 , G06T7/70 , G08G1/0112 , G06T2207/30261
摘要： Systems and methods for vehicle-based determination of HD map update information. Sensor-equipped vehicles may determine locations of various detected objects relative to the vehicles. Vehicles may also determine the location of reference objects relative to the vehicles, where the location of the reference objects in an absolute coordinate system is also known. The absolute coordinates of various detected objects may then be determined from the absolute position of the reference objects and the locations of other objects relative to the reference objects. Newly-determined absolute locations of detected objects may then be transmitted to HD map services for updating.
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公开(公告)号：US12055412B2
公开(公告)日：2024-08-06
申请号：US17234397
申请日：2021-04-19
申请人： NVIDIA Corporation
发明人： Amir Akbarzadeh , Ruchita Bhargava , Bhaven Dedhia , Rambod Jacoby , Jeffrey Liu , Vaibhav Thukral
CPC分类号： G01C21/3859 , G06T1/20 , G06T7/70 , G08G1/0112 , G06T2207/30261
摘要： Systems and methods for vehicle-based determination of HD map update information. Sensor-equipped vehicles may determine locations of various detected objects relative to the vehicles. Vehicles may also determine the location of reference objects relative to the vehicles, where the location of the reference objects in an absolute coordinate system is also known. The absolute coordinates of various detected objects may then be determined from the absolute position of the reference objects and the locations of other objects relative to the reference objects. Newly-determined absolute locations of detected objects may then be transmitted to HD map services for updating.
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公开(公告)号：US20230366698A1
公开(公告)日：2023-11-16
申请号：US18352578
申请日：2023-07-14
申请人： NVIDIA Corporation
发明人： David Nister , Ruchi Bhargava , Vaibhav Thukral , Michael Grabner , Ibrahim Eden , Jeffrey Liu
CPC分类号： G01C21/3841 , G01C21/3896 , G01C21/3878 , G01C21/1652 , G01C21/3867 , G06N3/02 , G01C21/3811
摘要： An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.
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公开(公告)号：US20220349725A1
公开(公告)日：2022-11-03
申请号：US17726429
申请日：2022-04-21
申请人： NVIDIA Corporation
发明人： Russell Chreptyk , Vaibhav Thukral , David Nister
摘要： In various examples, a high definition (HD) map is provided that includes a segmented data structure that allows for selective access to desired road segments and corresponding layers of map data. For example, the HD map may be segmented into a series of tiles that may correspond to a geographic region, and each of the tiles may include any number of road segments corresponding to portions of the geographic region. Each road segment may include a corresponding set of layers—which may include driving layers for use by the ego-machine and/or training layers for generating ground truth data—from the HD map that are associated with the road segment alone. As such, when traversing the environment, an ego-machine may determine one or more road segments within a tile corresponding to a current location, and may selectively download one or more layers for each of the one or more road segments.
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公开(公告)号：US11698272B2
公开(公告)日：2023-07-11
申请号：US17007873
申请日：2020-08-31
申请人： NVIDIA Corporation
发明人： Michael Kroepfl , Amir Akbarzadeh , Ruchi Bhargava , Vaibhav Thukral , Neda Cvijetic , Vadim Cugunovs , David Nister , Birgit Henke , Ibrahim Eden , Youding Zhu , Michael Grabner , Ivana Stojanovic , Yu Sheng , Jeffrey Liu , Enliang Zheng , Jordan Marr , Andrew Carley
CPC分类号： G01C21/3841 , G01C21/1652 , G01C21/3811 , G01C21/3867 , G01C21/3878 , G01C21/3896 , G06N3/02
摘要： An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.
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公开(公告)号：US20220341750A1
公开(公告)日：2022-10-27
申请号：US17726416
申请日：2022-04-21
申请人： NVIDIA Corporation
发明人： Amir Akbarzadeh , Ruchi Bhargava , Vaibhav Thukral
摘要： In various examples, health of a high definition (HD) map may be monitored to determine whether inaccuracies exist in one or more layers of the HD map. For example, as one or more vehicles rely on the HD map to traverse portions of an environment, disagreements between perception of the one or more vehicles, map layers of the HD map, and/or other disagreement types may be identified and aggregated. Where errors are identified that indicate a drop in health of the HD map, updated data may be crowdsourced from one or more vehicles corresponding to a location of disagreement within the HD map, and the updated data may be used to update, verify, and validate the HD map.
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公开(公告)号：US20220333950A1
公开(公告)日：2022-10-20
申请号：US17234397
申请日：2021-04-19
申请人： NVIDIA Corporation
发明人： Amir Akbarzadeh , Ruchita Bhargava , Bhaven Dedhia , Rambod Jacoby , Jeffrey Liu , Vaibhav Thukral
摘要： Systems and methods for vehicle-based determination of HD map update information. Sensor-equipped vehicles may determine locations of various detected objects relative to the vehicles. Vehicles may also determine the location of reference objects relative to the vehicles, where the location of the reference objects in an absolute coordinate system is also known. The absolute coordinates of various detected objects may then be determined from the absolute position of the reference objects and the locations of other objects relative to the reference objects. Newly-determined absolute locations of detected objects may then be transmitted to HD map services for updating.
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公开(公告)号：US11788861B2
公开(公告)日：2023-10-17
申请号：US17008074
申请日：2020-08-31
申请人： NVIDIA Corporation
发明人： David Nister , Ruchi Bhargava , Vaibhav Thukral , Michael Grabner , Ibrahim Eden , Jeffrey Liu
CPC分类号： G01C21/3841 , G01C21/1652 , G01C21/3811 , G01C21/3867 , G01C21/3878 , G01C21/3896 , G06N3/02
摘要： An end-to-end system for data generation, map creation using the generated data, and localization to the created map is disclosed. Mapstreams—or streams of sensor data, perception outputs from deep neural networks (DNNs), and/or relative trajectory data—corresponding to any number of drives by any number of vehicles may be generated and uploaded to the cloud. The mapstreams may be used to generate map data—and ultimately a fused high definition (HD) map—that represents data generated over a plurality of drives. When localizing to the fused HD map, individual localization results may be generated based on comparisons of real-time data from a sensor modality to map data corresponding to the same sensor modality. This process may be repeated for any number of sensor modalities and the results may be fused together to determine a final fused localization result.
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