公开(公告)号：US11926346B2

公开(公告)日：2024-03-12

申请号：US17395318

申请日：2021-08-05

申请人： NVIDIA Corporation

发明人： Fangkai Yang ,  David Nister ,  Yizhou Wang ,  Rotem Aviv ,  Julia Ng ,  Birgit Henke ,  Hon Leung Lee ,  Yunfei Shi

IPC分类号： B60W60/00 ,  B60W30/18 ,  G08G1/0967

CPC分类号： B60W60/0027 ,  B60W30/18154 ,  B60W30/18159 ,  G08G1/096725 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2552/05

摘要： In various examples, a yield scenario may be identified for a first vehicle. A wait element is received that encodes a first path for the first vehicle to traverse a yield area and a second path for a second vehicle to traverse the yield area. The first path is employed to determine a first trajectory in the yield area for the first vehicle based at least on a first location of the first vehicle at a time and the second path is employed to determine a second trajectory in the yield area for the second vehicle based at least on a second location of the second vehicle at the time. To operate the first vehicle in accordance with a wait state, it may be determined whether there is a conflict between the first trajectory and the second trajectory, where the wait state defines a yielding behavior for the first vehicle.

公开(公告)号：US20230341234A1

公开(公告)日：2023-10-26

申请号：US17725175

申请日：2022-04-20

申请人： NVIDIA Corporation

发明人： David Nister ,  Hon Leung Lee ,  Yizhou Wang ,  Rotem Aviv ,  Birgit Henke ,  Julia Ng ,  Amir Akbarzadeh

IPC分类号： G01C21/36 ,  G01C21/34 ,  B60W60/00

CPC分类号： G01C21/3658 ,  G01C21/3446 ,  G01C21/3453 ,  B60W60/001 ,  B60W2556/40

摘要： In various examples, a lane planner for generating lane planner output data based on a state and probabilistic action space is provided. A driving system—that operates based on a hierarchical drive planning framework—includes the lane planner and other planning and control components. The lane planner processes lane planner input data (e.g., large lane graph, source node, target node) to generate lane planner output data (e.g., expected time rewards). The driving system can also include a route planner (e.g., a first planning layer) that operates to provide the lane planner input data to the lane planner. The lane planner operates as second planning layer that processes the lane planner input data based at least in part on a state and probabilistic action space of the large lane graph and calculates a time cost associated with navigating from a source node to a target node in the large lane graph.

公开(公告)号：US20210325892A1

公开(公告)日：2021-10-21

申请号：US17356337

申请日：2021-06-23

申请人： NVIDIA Corporation

发明人： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC分类号： G05D1/02 ,  B60W30/09 ,  G05D1/08 ,  B60W30/095

摘要： In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

公开(公告)号：US11966228B2

公开(公告)日：2024-04-23

申请号：US18083159

申请日：2022-12-16

申请人： NVIDIA Corporation

发明人： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC分类号： G05D1/00 ,  B60W30/09 ,  B60W30/095

CPC分类号： G05D1/0214 ,  B60W30/09 ,  B60W30/095 ,  G05D1/0221 ,  G05D1/0223 ,  G05D1/0231 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/0289 ,  G05D1/0891 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2520/16 ,  B60W2520/18 ,  B60W2554/00

摘要： In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

公开(公告)号：US20230124848A1

公开(公告)日：2023-04-20

申请号：US18083159

申请日：2022-12-16

申请人： NVIDIA Corporation

发明人： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC分类号： G05D1/02 ,  B60W30/09 ,  G05D1/08 ,  B60W30/095

摘要： In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

公开(公告)号：US11079764B2

公开(公告)日：2021-08-03

申请号：US16265780

申请日：2019-02-01

申请人： NVIDIA Corporation

发明人： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC分类号： G05D1/02 ,  B60W30/09 ,  G05D1/08 ,  B60W30/095

摘要： In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

公开(公告)号：US20240336285A1

公开(公告)日：2024-10-10

申请号：US18745919

申请日：2024-06-17

申请人： NVIDIA Corporation

发明人： Julia Ng ,  David Nister ,  Zhenyi Zhang ,  Yizhou Wang

IPC分类号： B60W60/00 ,  B60W30/095

CPC分类号： B60W60/00272 ,  B60W30/0953 ,  B60W60/0011 ,  B60W60/0018 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/80

摘要： In various examples, systems and methods are disclosed for weighting one or more optional paths based on obstacle avoidance or other safety considerations. In some embodiments, the obstacle avoidance considerations may be computed using a comparison of trajectories representative of safety procedures at present and future projected time steps of an ego-vehicle and other actors to ensure that each actor is capable of implementing their respective safety procedure while avoiding collisions at any point along the trajectory. This comparison may include filtering out a path(s) of an actor at a time step(s)—e.g., using a one-dimensional lookup—based on spatial relationships between the actor and the ego-vehicle at the time step(s). Where a particular path—or point along the path—does not satisfy a collision-free standard, the path may be penalized more negatively with respect to the obstacle avoidance considerations, or may be removed from consideration as a potential path.

公开(公告)号：US20240174219A1

公开(公告)日：2024-05-30

申请号：US18432887

申请日：2024-02-05

申请人： NVIDIA Corporation

发明人： David Nister ,  Hon-Leung Lee ,  Julia Ng ,  Yizhou Wang

IPC分类号： B60W30/09 ,  B60W30/095

CPC分类号： B60W30/09 ,  B60W30/095 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2520/16 ,  B60W2520/18 ,  B60W2554/00

摘要： In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.

公开(公告)号：US20240116538A1

公开(公告)日：2024-04-11

申请号：US18545856

申请日：2023-12-19

申请人： NVIDIA Corporation

发明人： Zhenyi Zhang ,  Yizhou Wang ,  David Nister ,  Neda Cvijetic

IPC分类号： B60W60/00 ,  B60W30/095 ,  B60W30/18 ,  B60W40/105

CPC分类号： B60W60/0011 ,  B60W30/0956 ,  B60W30/18163 ,  B60W40/105 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2552/53

摘要： In various examples, sensor data may be collected using one or more sensors of an ego-vehicle to generate a representation of an environment surrounding the ego-vehicle. The representation may include lanes of the roadway and object locations within the lanes. The representation of the environment may be provided as input to a longitudinal speed profile identifier, which may project a plurality of longitudinal speed profile candidates onto a target lane. Each of the plurality of longitudinal speed profiles candidates may be evaluated one or more times based on one or more sets of criteria. Using scores from the evaluation, a target gap and a particular longitudinal speed profile from the longitudinal speed profile candidates may be selected. Once the longitudinal speed profile for a target gap has been determined, the system may execute a lane change maneuver according to the longitudinal speed profile.

公开(公告)号：US11860628B2

公开(公告)日：2024-01-02

申请号：US17352777

申请日：2021-06-21

申请人： NVIDIA Corporation

发明人： David Nister ,  Yizhou Wang ,  Jaikrishna Soundararajan ,  Sachit Kadle

IPC分类号： G05D1/00 ,  G06T1/20 ,  G05D1/02 ,  B60W50/06 ,  B60W60/00 ,  B60W30/09 ,  B60W30/06 ,  G06T7/70 ,  G06V20/58

CPC分类号： G05D1/0088 ,  B60W50/06 ,  B60W60/0015 ,  G05D1/0214 ,  G06T1/20 ,  G06T7/70 ,  G06V20/58 ,  B60W30/06 ,  B60W30/09 ,  G06T2207/30241 ,  G06T2207/30261

摘要： To determine a path through a pose configuration space, trajectories of poses may be evaluated in parallel based at least on translating the trajectories along at least one axis of the pose configuration space (e.g., an orientation axis). A trajectory may include at least a portion of a turn having a fixed turn radius. Turns or turn portions that have the same turn radius and initial orientation can be translatively shifted along and processed in parallel along the orientation axis as they are translated copies of each other, but with different starting points. Trajectories may be evaluated based at least on processing variables used to evaluate reachability as bit vectors with threads effectively performing large vector operations in synchronization. A parallel reduction pattern may be used to account for dependencies that may exist between sections of a trajectory for evaluating reachability, allowing for the sections to be processed in parallel.