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公开(公告)号：US20210302994A1
公开(公告)日：2021-09-30
申请号：US16933015
申请日：2020-07-20
申请人： Wipro Limited
发明人： Manas SARKAR , Balaji Sunil Kumar
摘要： The disclosure relates to method and system for localizing an autonomous ground vehicle (AGV). In an example, the method includes receiving a line drawing corresponding to a two-dimensional (2D) camera scene captured by a camera mounted on the AGV, determining a plurality of ground-touching corner edges based on a plurality of horizontal edges and a plurality of vertical edges in the line drawing, determining a plurality of three-dimensional (3D) points corresponding to a plurality of 2D points in each of the plurality of ground-touching corner edges based on a mapping relationship between an angular orientation of a ground touching edge of an object in real-world and in camera scene and a set of intrinsic parameters of the camera, generating 2D occupancy data by plotting the plurality of 3D points in a 2D plane, and determining a location of the AGV based on the 2D occupancy data and the mapping relationship.
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2.发明申请公开(公告)号：US20210302991A1
公开(公告)日：2021-09-30
申请号：US16937767
申请日：2020-07-24
申请人： Wipro Limited
发明人： Balaji Sunil KUMAR , Manas SARKAR
IPC分类号： G05D1/02
摘要： This disclosure relates to method and system of generating an enhanced field of view (FoV) for an Autonomous Ground Vehicle (AGV). The method includes determining a set of regions of interest at a current location of an AGV, along a global path of the AGV. Further, for each of the regions of interest, the method includes receiving, for a region of interest, visual data from one or more sensor clusters located externally with respect to the AGV and at different positions. Further, for each of the regions of interest, the method includes for each of the one or more sensor clusters, generating, for a sensor cluster, perception data for the region of interest by correlating the visual data from the two or more vision sensors in the sensor cluster, and combining the one or more entities within the region of interest based on the perception data from the one or more sensor clusters to generate the enhanced FoV.
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3.发明申请公开(公告)号：US20200312057A1
公开(公告)日：2020-10-01
申请号：US16370321
申请日：2019-03-29
申请人： Wipro Limited
发明人： Balaji Sunil KUMAR , Manas SARKAR
摘要： The present disclosure discloses a method and an Electronic Control Unit (ECU) of autonomous vehicle for validating odometer performance in real-time. The method includes initiating navigation of the autonomous vehicle through a planned path on receipt of a source input and a destination input on a map. A first landmark at a first distance and a first viewing angle and a second landmark at a second distance and second viewing angle is detected from a current position of the autonomous vehicle. A first stored record corresponding to the first landmark based on a first distance match and a second stored record corresponding to the second landmark based on a second distance match is identified. The current position and a next consecutive position of the autonomous vehicle is determined. Reading of the odometer is validated with distance covered by the autonomous vehicle measured between the current position and the consecutive position.
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公开(公告)号：US20200310462A1
公开(公告)日：2020-10-01
申请号：US16690296
申请日：2019-11-21
申请人： Wipro Limited
发明人： Manas SARKAR , Balaji Sunil Kumar
摘要： Disclosed subject matter relates to field of vehicle navigation system that performs a method of generating trajectory for navigating an autonomous vehicle. A trajectory generating system associated with autonomous vehicle detects Points of Interest (POIs) for a selected segment which is at predefined distance from current position of autonomous vehicle, in real-time. Further, features of each of the POIs are determined and first level trajectory is generated for selected segment based on features of POIs proximal to selected segment. Furthermore, the trajectory generating system generates second level trajectory for portions of first level trajectory from current position of autonomous vehicle by modifying each portion based on real-time environment data. First level trajectory in present disclosure enables trajectory generating system to effectively plan the second level trajectory such that, sudden change in velocity or direction of autonomous vehicle is eliminated, when autonomous vehicle encounters infrastructure conditions present in the selected segment.
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公开(公告)号：US20230311934A1
公开(公告)日：2023-10-05
申请号：US17804898
申请日：2022-06-01
IPC分类号： B60W60/00 , G05D1/02 , B60W40/107 , B60W40/06
CPC分类号： B60W60/001 , G05D1/0212 , B60W40/107 , B60W40/06 , B60W2556/45 , B60W2720/106
摘要： Disclosed herein is method and a navigation system for dynamically controlling navigation of an autonomous vehicle. In an embodiment, method comprises determining a trajectory path, comprising a plurality of path segments including at least one curved path segment and a straight path segment, by adjusting a plurality of waypoints in a base route of the autonomous vehicle and joining the plurality of waypoints using a predefined path planning model. Thereafter, a velocity profile distribution is generated for the autonomous vehicle by determining a start terminal velocity, an end terminal velocity and acceleration of the autonomous vehicle through each of the plurality of path segments in the trajectory path. Finally, a dynamic motion command is determined and applied to the autonomous vehicle based on the velocity profile distribution for dynamically controlling the navigation of the autonomous vehicle.
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公开(公告)号：US20210096568A1
公开(公告)日：2021-04-01
申请号：US16700214
申请日：2019-12-02
申请人： Wipro Limited
发明人： Balaji Sunil KUMAR , Manas SARKAR
摘要： This disclosure relates to method and system for dynamically modifying navigation trajectory of an autonomous ground vehicle (AGV). The method may include receiving an image of a visible road region ahead of the AGV, projecting planned trajectory waypoints on the image, and segmenting the visible road region in the image into equidistant segments along a road length. For each of the equidistant segments, the method may further include determining alternate trajectory waypoints and a suggested velocity for a given segment based on the image of the given segment, a set of the planned trajectory waypoints in the given segment, an adjusted trajectory waypoint in a previous segment, and a determined velocity in the previous segment using an artificial intelligence model. Additionally, for each of the equidistant segments, the method may include determining an adjusted trajectory waypoint based on the alternate trajectory waypoints and the suggested velocity for the given segment.
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7.发明申请公开(公告)号：US20200310460A1
公开(公告)日：2020-10-01
申请号：US16718244
申请日：2019-12-18
申请人： Wipro Limited
发明人： Manas SARKAR , Balaji Sunil KUMAR
摘要： This disclosure relates to method and system for validating readings of orientation sensor mounted on autonomous ground vehicle (AGV). The method may include receiving distances and angles of observation of at least two fixed objects with respect to AGV at a first position and then at a second position, calculating a first orientation and a second orientation of AGV at the first position and at the second position respectively based on the distances, the angles of observation, and coordinate positions of each of the at least two fixed objects, determining an actual change in orientation of AGV based on the first orientation and the second orientation, and validating the readings of the orientation sensor based on the actual change in orientation. The at least two fixed objects are objects with pre-identified properties in a field of view of a vision sensor mounted on AGV and on both sides of AGV.
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公开(公告)号：US20220221294A1
公开(公告)日：2022-07-14
申请号：US17187910
申请日：2021-03-01
申请人： Wipro Limited
发明人： Balaji Sunil KUMAR , Manas SARKAR
IPC分类号： G01C21/34 , B60R16/023 , G01C21/36
摘要： The present disclosure relates to generating maneuvering trajectories using Machine Learning (ML) model. The ML model scores each candidate maneuvering trajectories based on a plurality of dynamic profile parameters. A candidate maneuvering trajectory from a plurality of candidate maneuvering trajectories, having a best trajectory score is selected as the final maneuvering trajectory and is provided to the vehicle for navigating according to the final maneuvering trajectory. The final maneuvering trajectory is the most ideal trajectory as it is generated using the ML model based on the plurality of dynamic profile parameters. Also, the vehicle navigation is most efficient when navigated according to the final maneuvering trajectory.
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公开(公告)号：US20210311479A1
公开(公告)日：2021-10-07
申请号：US16930642
申请日：2020-07-16
申请人： Wipro Limited
发明人： Balaji Sunil KUMAR , Manas SARKAR
摘要： The disclosure relates to method and system for generating trajectory plan for autonomous ground vehicles (AGV). The method includes assessing an upcoming goal position for an AGV with respect to a current position of the AGV to establish a need for preparing a trajectory plan for a critical segment of the path. The method further includes determining, upon establishing the need, a next free road region based on a hint next rest pose along the critical segment, generating a trajectory sub-plan corresponding to the next free road region by iteratively determining a set of intermediate poses between the current rest pose and the hint next rest pose, and generating the trajectory plan for the critical segment of the path by iteratively generating the trajectory sub-plans between the current rest pose and the final goal pose.
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公开(公告)号：US20210253130A1
公开(公告)日：2021-08-19
申请号：US16834691
申请日：2020-03-30
申请人： Wipro Limited
发明人： Balaji Sunil KUMAR , Manas SARKAR
摘要： Embodiments of the present disclosure relate to generating velocity profiles for an autonomous vehicle (101). An ECU (107) of the autonomous vehicle (101) receives road information from one or more sensors (106) associated with the autonomous vehicle (101). One or more parameters related to smooth movement of the autonomous vehicle on the road is determined from the road information. Further, a first velocity profile is produced using an AI model and a second velocity profile is produced using a hierarchical model, based on the one or more parameters. Furthermore, one of the first and the second velocity profile is selected by comparing the first and the second velocity profiles. The selected velocity profile has a lower value of velocity value compared to the other velocity profile. The selected velocity profile is provided to the autonomous vehicle (101) for navigating on the road (102) smoothly.
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