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    Collaborative vehicle guidance
    1.
    发明授权
    Collaborative vehicle guidance 有权

    公开(公告)号：US12130621B2

    公开(公告)日：2024-10-29

    申请号：US16852057

    申请日：2020-04-17

    申请人： Zoox, Inc.

    发明人： Ravi Gogna

    IPC分类号： B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  G05D1/00

    CPC分类号： G05D1/0061 ,  B60W30/09 ,  B60W30/0956 ,  B60W60/0011 ,  B60W60/0016 ,  G05D1/0038

    摘要： Techniques to provide guidance to a vehicle operating in an environment are discussed herein. For example, such techniques may include sending a request for assistance, receiving a reference trajectory, and causing the vehicle to determine a trajectory based on the reference trajectory. Data such as sensor data and vehicle state data may be sent from the vehicle to a remote computing device. The computing device outputs a user interface using the data and determines the reference trajectory based on receiving an input in the user interface. The techniques can send an indication of the reference trajectory to the vehicle for use in planning a trajectory for the vehicle. A vehicle, such as an autonomous vehicle, can be controlled to traverse an environment based on the trajectory.

    Two-level path planning for autonomous vehicles
    2.
    发明授权
    Two-level path planning for autonomous vehicles 有权

    公开(公告)号：US12122419B2

    公开(公告)日：2024-10-22

    申请号：US16912444

    申请日：2020-06-25

    申请人： TUSIMPLE, INC.

    发明人： Junbo Jing ,  Arda Kurt ,  Yujia Wu ,  Tianqu Shao ,  Xing Sun ,  Zijie Xuan ,  Haoming Sun ,  Chasen Sherman

    IPC分类号： B60W60/00 ,  G05D1/00 ,  H04W4/40

    CPC分类号： B60W60/0011 ,  G05D1/0022 ,  G05D1/0274 ,  H04W4/40

    摘要： Described is a two-level optimal path planning process for autonomous tractor-trailer trucks which incorporates offline planning, online planning, and utilizing online estimation and perception results for adapting a planned path to real-world changes in the driving environment. In one aspect, a method of navigating an autonomous vehicle includes determining, by an online server, a current vehicle state of the autonomous vehicle in a mapped driving area. The method includes receiving, by the online server from an offline path library, a path for the autonomous driving vehicle through the mapped driving area from the current vehicle state to a destination vehicle state, and receiving fixed and moving obstacle information. The method includes adjusting the path to generate an optimized path that avoids the fixed and moving obstacles and ends at a targeted final vehicle state, and navigating the autonomous vehicle based on the optimized path.

    Methods and systems for predicting dynamic object behavior
    3.
    发明授权
    Methods and systems for predicting dynamic object behavior 有权

    公开(公告)号：US12118461B2

    公开(公告)日：2024-10-15

    申请号：US17097840

    申请日：2020-11-13

    申请人： Amir Rasouli ,  Mohsen Rohani

    发明人： Amir Rasouli ,  Mohsen Rohani

    IPC分类号： G06N3/08 ,  B60W30/095 ,  B60W60/00 ,  G06N3/04 ,  G06V10/25

    CPC分类号： G06N3/08 ,  B60W30/0956 ,  B60W60/0011 ,  G06N3/04 ,  G06V10/25 ,  B60W2554/4046

    摘要： Methods and systems for predicting behavior of a dynamic object of interest in an environment of a vehicle are described. Time series feature data are received, representing features of objects in the environment, including a dynamic object of interest. The feature data are categorized into one of a plurality of defined object categories. Each categorized set of data is encoded into a respective categorical representation that represents temporal change of features within the respective defined object category. The categorical representations are combined into a single shared representation. A categorical interaction representation is generated based on the single shared representation that represents contributions of temporal change in each defined object category to a final time step of the shared representation. The categorical interaction representation together with data representing dynamics of the objects in the environment and data representing a state of the vehicle are used to generate predicted data representing a predicted future behavior of the dynamic object of interest.

    DETECTION AND AVOIDANCE OF CAR DOORING OF CYCLISTS
    5.
    发明公开
    DETECTION AND AVOIDANCE OF CAR DOORING OF CYCLISTS 审中-公开

    公开(公告)号：US20240326863A1

    公开(公告)日：2024-10-03

    申请号：US18192397

    申请日：2023-03-29

    申请人： Volvo Car Corporation

    发明人： Oswaldo Perez Barrera ,  Anders Lennartsson

    IPC分类号： B60W60/00 ,  B60W30/09 ,  B60W30/095 ,  B60W40/105

    CPC分类号： B60W60/0011 ,  B60W30/09 ,  B60W30/0956 ,  B60W40/105 ,  B60W60/0017 ,  B60W2520/06 ,  B60W2554/20 ,  B60W2554/4026 ,  B60W2554/4042 ,  B60W2554/4044

    摘要： Various systems and methods are presented regarding utilizing technology onboard a vehicle to minimize road traffic accidents between cyclists and vehicles. A first vehicle can be operating in any of an autonomous, partially autonomous, or non-autonomous manner. By utilizing onboard technology/artificial intelligence, the first vehicle can detect both a cyclist navigating a street and a parked vehicle that is proximate enough to the cyclist for the possibility of dooring event to occur if a door of the parked vehicle was opened into the path of the cyclist. The first vehicle can determine a respective velocity of the cyclist and a location of the door on the parked vehicle. Accordingly, the vehicle can preemptively adjust its operation to prevent being involved in the effects of the dooring incident based on a determined probability of a dooring event occurring/likely to occur, e.g., situation is safe, moderately safe, or dangerous.

    EVALUATING YIELD PREDICTION MODEL PERFORMANCE
    6.
    发明公开
    EVALUATING YIELD PREDICTION MODEL PERFORMANCE 审中-公开

    公开(公告)号：US20240308544A1

    公开(公告)日：2024-09-19

    申请号：US18183052

    申请日：2023-03-13

    申请人： GM Cruise Holdings LLC

    发明人： Can Cui ,  Prathyush Katukojwala

    IPC分类号： B60W60/00 ,  G01C21/34

    CPC分类号： B60W60/0011 ,  G01C21/3484 ,  B60W2420/403 ,  B60W2420/408

    摘要： Aspects of the disclosed technology provide solutions for evaluating the performance of a yield prediction model that is used to inform path planning decisions made by a planning module of an autonomous vehicle (AV) software stack. In some aspects, a process of the disclosed technology includes steps for receive legacy road data, extracting AV plan information from the legacy road data, the AV plan information comprising an original path selected by the AV for navigating through the environment, and providing the legacy road data to a yield prediction model to generate a yield prediction for each of the one or more entities in the environment. In some aspects, the process can further include steps for determining an alternate path based on the yield prediction for each of the one or more entities, and evaluating the yield prediction model based on the original path selected by the AV and the alternate path. Systems and machine-readable media are also provided.

    Random shift based path centering system for autonomous vehicles
    8.
    发明授权
    Random shift based path centering system for autonomous vehicles 有权

    公开(公告)号：US12085945B2

    公开(公告)日：2024-09-10

    申请号：US16927013

    申请日：2020-07-13

    申请人： Baidu USA LLC

    发明人： Fan Zhu

    IPC分类号： G05D1/00 ,  B60W60/00

    CPC分类号： G05D1/0221 ,  B60W60/0011 ,  G05D1/0088

    摘要： Embodiments of the present disclosures disclose a method and a system to generate a path planning trajectory with a random lateral shift for an autonomous driving vehicle (ADV). In one embodiment, a system generates a reference line to navigate the ADV from a start location to a destination location. The system determines a lateral shift distance value to shift a lane center for the reference line. The system generates a shifted trajectory using the reference line based on the lateral shift distance value. The system controls the ADV based on the shifted trajectory to navigate the ADV.