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    Real-time sensor calibration and calibration verification based on detected objects
    1.
    发明授权
    Real-time sensor calibration and calibration verification based on detected objects 有权

    公开(公告)号：US12032102B2

    公开(公告)日：2024-07-09

    申请号：US17038927

    申请日：2020-09-30

    申请人： Pony AI Inc.

    发明人： Cyrus F. Abari

    IPC分类号： G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931

    CPC分类号： G01S7/4972 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931

    摘要： Improved calibration of a vehicle sensor based on static objects detected within an environment being traversed by the vehicle is disclosed. A first sensor such as a LiDAR can be calibrated to a global coordinate system via a second pre-calibrated sensor such as a GPS IMU. Static objects present in the environment are detected such as signage. Point cloud data representative of the static objects are captured by the first sensor and a first transformation matrix for performing a transformation from a local coordinate system of the first sensor to a local coordinate system of the second sensor is iteratively redetermined until a desired calibration accuracy is achieved. Transformation to the global coordinate system is then achieved via application of the first transformation matrix followed by application of a second known transformation matrix to transition from the local coordinate system of the second pre-calibrated sensor to the global coordinate system.

    System and method for sharing data collected from the street sensors
    2.
    发明授权
    System and method for sharing data collected from the street sensors 有权

    公开(公告)号：US11941976B2

    公开(公告)日：2024-03-26

    申请号：US16522568

    申请日：2019-07-25

    申请人： Pony AI Inc.

    发明人： George Chu Luo

    IPC分类号： G08G1/01 ,  G05D1/00 ,  G05D1/02 ,  G06N20/00 ,  G06V10/20 ,  G06V20/54 ,  G06V20/58

    CPC分类号： G08G1/0116 ,  G05D1/0088 ,  G05D1/0214 ,  G06N20/00 ,  G06V10/255 ,  G06V20/54 ,  G06V20/58 ,  G08G1/0125 ,  G08G1/0145 ,  G05D2201/0213

    摘要： An environmental safety system may comprise a plurality of first sensors each located at a predetermined physical location of a traffic intersection and with a predetermined orientation. The system may have a memory storing executable instructions. The system may have one or more processors in communication with the plurality of first sensors and the memory. The one or more processors may be programmed by the executable instructions. The system may receive first sensor data captured at a time point and by the plurality of first sensors. The system may determine values of one or more parameters of an object of interest within a threshold distance of the traffic intersection using the first sensor data. The system may generate an information object comprising the values of the one or more parameters of the object of interest, the time point, and a signature of the information object. The system may transmit, via a communication network, the information object.

    Vehicle output based on local language/dialect
    3.
    发明授权
    Vehicle output based on local language/dialect 有权

    公开(公告)号：US11900916B2

    公开(公告)日：2024-02-13

    申请号：US17896394

    申请日：2022-08-26

    申请人： Pony AI Inc.

    发明人： Peter G. Diehl ,  Robert Dingli

    IPC分类号： G10L15/00 ,  G06F16/9537 ,  G10L15/18 ,  G10L15/22

    CPC分类号： G10L15/005 ,  G06F16/9537 ,  G10L15/1815 ,  G10L15/22 ,  G10L2015/227

    摘要： Described herein are systems, methods, and computer readable media for dynamically determining a language variant to use for vehicle output to a vehicle occupant based on the vehicle's location. A geographic region may include multiple sub-regions, each of which may be associated with a respective one or more language variants. As an example, a geographic region may be a state or province, and each sub-region may have one or more dialects that are spoken by individuals in that sub-region. In some cases, a particular dialect may be predominant in a given sub-region. As a vehicle traverses a travel path, it may determine its current location, which geographic sub-region includes that location, and which language variant (e.g., dialect) is predominant there. That language variant may then be selected for in-vehicle communication with a vehicle occupant. The vehicle location determination may be made at or near where the occupant entered the vehicle.

    SENSOR TRIGGERING BASED ON SENSOR SIMULATION
    5.
    发明公开
    SENSOR TRIGGERING BASED ON SENSOR SIMULATION 审中-公开

    公开(公告)号：US20230333229A1

    公开(公告)日：2023-10-19

    申请号：US18337234

    申请日：2023-06-19

    申请人： Pony AI Inc.

    发明人： Pingfan Meng ,  Zhenhao Pan ,  Stephen Lee ,  Wei-yang Chiu ,  Kai Chen

    IPC分类号： G01S7/497 ,  G06N3/126 ,  G06F3/00 ,  G01S17/931 ,  G05B19/042

    CPC分类号： G01S7/4972 ,  G01S17/931 ,  G05B19/0423 ,  G06F3/005 ,  G06N3/126

    摘要： Described herein are systems, methods, and non-transitory computer readable media for triggering a sensor operation of a second sensor (e.g., a camera) based on a predicted time of alignment with a first sensor (e.g., a LiDAR), where operation of the second sensor is simulated to determine the predicted time of alignment. In this manner, the sensor data captured by the two sensors is ensured to be substantially synchronized with respect to the physical environment being sensed. This sensor data synchronization based on predicted alignment of the sensors solves the technical problem of lack of sensor coordination and sensor data synchronization that would otherwise result from the latency associated with communication between sensors and a centralized controller and/or between sensors themselves.

    Methods of linearizing non-linear chirp signals
    9.
    发明授权
    Methods of linearizing non-linear chirp signals 有权

    公开(公告)号：US11740354B2

    公开(公告)日：2023-08-29

    申请号：US17039134

    申请日：2020-09-30

    申请人： Pony AI Inc.

    发明人： Cyrus F. Abari

    IPC分类号： G01S17/34 ,  G01S7/493 ,  G01S7/4913

    CPC分类号： G01S17/34 ,  G01S7/493 ,  G01S7/4913

    摘要： Systems and methods of linearizing a signal of a light detection and ranging (LiDAR) sensor are described herein. A system receives a portion of a non-linear chirp signal. The portion of the non-linear chirp signal is sampled at a sampling frequency to generate data points corresponding to the portion of the non-linear chirp signal. A profile of the non-linear chirp signal is generated based on the data points. The non-linear chirp signal is linearized based on the profile of the non-linear chirp signal.

    SENSOR ALIGNMENT
    10.
    发明公开
    SENSOR ALIGNMENT 审中-公开

    公开(公告)号：US20230213636A1

    公开(公告)日：2023-07-06

    申请号：US18175501

    申请日：2023-02-27

    申请人： Pony AI Inc.

    发明人： Yubo Zhang ,  Pingfan Meng

    IPC分类号： G01S7/497 ,  G01S17/86 ,  G01S17/931 ,  G06T7/33 ,  G01S17/42

    CPC分类号： G01S7/4972 ,  G01S17/42 ,  G01S17/86 ,  G01S17/931 ,  G06T7/337 ,  G06T2207/10028 ,  G06T2207/30252

    摘要： Described herein are systems, methods, and non-transitory computer readable media for performing an alignment between a first vehicle sensor and a second vehicle sensor. Two-dimensional (2D) data indicative of a scene within an environment being traversed by a vehicle is captured by the first vehicle sensor such as a camera or a collection of multiple cameras within a sensor assembly. A three-dimensional (3D) representation of the scene is constructed using the 2D data. 3D point cloud data also indicative of the scene is captured by the second vehicle sensor, which may be a LiDAR. A 3D point cloud representation of the scene is constructed based on the 3D point cloud data. A rigid transformation is determined between the 3D representation of the scene and the 3D point cloud representation of the scene and the alignment between the sensors is performed based at least in part on the determined rigid transformation.