公开(公告)号：US11999375B2

公开(公告)日：2024-06-04

申请号：US17241135

申请日：2021-04-27

申请人： Wipro Limited

发明人： Balaji Sunil Kumar ,  Manas Sarkar

IPC分类号： B60W60/00

CPC分类号： B60W60/001 ,  B60W2420/54 ,  B60W2554/4048 ,  B60W2554/4049

摘要： A method and a system for maneuvering vehicles using adjustable ultrasound sensors is disclosed. The method includes determining at least one first position of an object relative to a vehicle using at least one high range sensor and determining for each of at least one first position of the object non-conformance with one or more object position criteria. The method further includes determining at least one second position of object relative to vehicle, when at least one first position of the object is in non-conformance with one or more object position criteria. The method further includes assigning at least one ultrasound sensor to dynamically focus on the object and maneuvering the vehicle on a trajectory plan based on the at least object attribute. Each of plurality of ultrasound sensors is deployed on rotatable mount and assigned at least one ultrasound sensor is dynamically focused by rotating on associated rotatable mount.

公开(公告)号：US11598864B2

公开(公告)日：2023-03-07

申请号：US16282340

申请日：2019-02-22

申请人： Wipro Limited

发明人： Balaji Sunil Kumar ,  Manas Sarkar

IPC分类号： G01S17/06 ,  G01S7/48 ,  G01S7/02 ,  G01S7/497 ,  G01S17/931 ,  G01S13/00

摘要： A system and method for testing a Light Detection and Ranging (LiDAR) sensor is disclosed. The system includes the LiDAR sensor radiating a plurality of LiDAR rays, a plurality of bars positioned at a predetermined distance from the LiDAR sensor, and a testing device. The method includes triggering a LiDAR sensor to radiate a plurality of LiDAR rays. The method further includes determining at least one intersection point at each of a plurality of bars upon intersection of at least one LiDAR ray from the plurality of LiDAR rays with each of the plurality of bars. The method further includes computing at least one operational parameter for the LiDAR sensor based on the intersection points, and determining one or more test results based on the one or more operational parameters.

公开(公告)号：US11498586B2

公开(公告)日：2022-11-15

申请号：US16929155

申请日：2020-07-15

申请人： Wipro Limited

发明人： Balaji Sunil Kumar ,  Manas Sarkar

IPC分类号： B60W60/00 ,  G01C21/34 ,  B60W40/105 ,  B60W40/072 ,  B60W40/076

摘要： Disclosed herein is a method and system for dynamically generating a secure navigation path for navigation of an autonomous vehicle. The method comprises detecting disproportional acceleration of the autonomous vehicle when the autonomous vehicle is navigating from a source point to a destination point based on a predefined trajectory plan. The method comprises determining direction values of the autonomous vehicle for reaching a secure path point in the predefined trajectory plan. Based on the determined direction values, distance values are determined. The method includes detecting position of the secure path point for navigation of the autonomous vehicle based on the determined direction values and the distance values. The present disclosure uses secure path point to realign the autonomous vehicle in the predefined trajectory plan to overcome the disproportional acceleration of the autonomous vehicle due to narrow roads, upward slope, or downward slope.

公开(公告)号：US11487299B2

公开(公告)日：2022-11-01

申请号：US16933015

申请日：2020-07-20

申请人： Wipro Limited

发明人： Manas Sarkar ,  Balaji Sunil Kumar

IPC分类号： G05D1/02 ,  G06T3/00 ,  G06V20/56 ,  G06V20/59

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.

公开(公告)号：US11487292B2

公开(公告)日：2022-11-01

申请号：US16930642

申请日：2020-07-16

申请人： Wipro Limited

发明人： Balaji Sunil Kumar ,  Manas Sarkar

IPC分类号： G05D1/02 ,  B60W60/00

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.

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

IPC分类号： G05D1/02 ,  G01C21/34

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.

公开(公告)号：US20190204839A1

公开(公告)日：2019-07-04

申请号：US15900870

申请日：2018-02-21

申请人： WIPRO LIMITED

发明人： Balaji Sunil Kumar ,  Manas Sarkar

IPC分类号： G05D1/02

CPC分类号： G01C21/3407 ,  B60W30/12

摘要： Disclosed subject matter relates to a field of telematics that performs a method for generating safe navigation path for navigating a vehicle. A path generation system associated with the vehicle may receive a reference path, between source point and destination point, confined between left and right boundaries of road. Further, the path generation system may determine plurality of boundary points positioned along selected boundary and may identify a tangent for a point positioned between adjacent determined boundary points from along the selected boundary. Further, a line perpendicular to the tangent may be projected from each of the plurality of boundary points until the perpendicular line reaches other boundary. The path generation system may identify centre point on each perpendicular line and connects each centre point to venerate the safe navigation path at centre of road that minimizes jerks and ensures smooth navigation and free movement of vehicle on road.

公开(公告)号：US11774571B2

公开(公告)日：2023-10-03

申请号：US16794448

申请日：2020-02-19

申请人： Wipro Limited

发明人： Manas Sarkar ,  Balaji Sunil Kumar

IPC分类号： G01S13/06 ,  G01S13/46 ,  G05D1/02 ,  G06V20/56

CPC分类号： G01S13/46 ,  G05D1/028 ,  G05D1/0212 ,  G05D1/0248 ,  G06V20/588 ,  G01S2013/466

摘要： The present invention discloses a method and a system for navigating an Autonomous Ground Vehicle (AGV) using a radio signal and a vision sensor. The method comprising generating a trajectory plan for a short distance from a path plan, wherein the path plan is determined using destination location and AVG location, identifying an approximate AGV location using a radio signal-based trilateration mechanism, estimating AGV location error with respect to a road lane center by determining distance from the approximate AGV location to road boundary and road lane marking line and orientation difference between AGV orientation and road orientation, and correcting the trajectory plan by using the estimated AGV location error for navigating an AGV.

公开(公告)号：US11301700B2

公开(公告)日：2022-04-12

申请号：US16595518

申请日：2019-10-08

申请人： Wipro Limited

发明人： Balaji Sunil Kumar ,  Manas Sarkar

IPC分类号： G06K9/00 ,  B62D15/02 ,  G05D1/00 ,  G05D1/02

摘要： The present invention relates to a method for safely parking an autonomous vehicle on sensor anomaly. Based on current position of the AV, an angular velocity and curvature required for the AV to reach a safe parking space may be determined, upon detecting non-working of at least one primary sensor associated with the AV. Further, one or more obstacles proximal to the AV may be detected using one or more secondary sensors attached to the AV. Furthermore, based on detection of the one or more obstacles, the AV may be navigated in a track by maintaining a safe distance from the one or more obstacles. Finally, the AV may be navigated along the determined curvature upon detecting absence of the one or more obstacles to reach the safe parking space at the edge of the road.

公开(公告)号：US11181919B2

公开(公告)日：2021-11-23

申请号：US16261645

申请日：2019-01-30

申请人： WIPRO LIMITED

发明人： Manas Sarkar ,  Balaji Sunil Kumar

IPC分类号： G05D1/02 ,  G05D1/00 ,  B60W60/00

摘要： Disclosed subject matter relates to a field of vehicle navigation system that performs a method for determining an optimal trajectory for navigation of an autonomous vehicle. A trajectory determining system associated with the autonomous vehicle may detect an occurrence of a predefined condition related to diversion based on environment data. Further, minimum lateral shift required from a predefined distance for handling the detected predefined condition is determined and co-efficient value sets corresponding to the minimum lateral shift are determined based on pre-stored values that are generated based on a trial run. For each co-efficient value set, velocity and position data is determined at a plurality of time instances based on which one or more trajectories corresponding to each co-efficient value set are generated. Finally, an optimal trajectory is determined among the generated trajectories cumulative variation in orientation and total time required for navigating along the corresponding trajectory.