CA3038542C - Neural network system for autonomous vehicle control - Google Patents

Neural network system for autonomous vehicle control Download PDF

Info

Publication number
CA3038542C
CA3038542C CA3038542A CA3038542A CA3038542C CA 3038542 C CA3038542 C CA 3038542C CA 3038542 A CA3038542 A CA 3038542A CA 3038542 A CA3038542 A CA 3038542A CA 3038542 C CA3038542 C CA 3038542C
Authority
CA
Canada
Prior art keywords
sdv
neural network
navigation points
route
sensor data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA3038542A
Other languages
English (en)
French (fr)
Other versions
CA3038542A1 (en
Inventor
Nemanja DJURIC
John Houston
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aurora Operations Inc
Original Assignee
Uatc LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Uatc LLC filed Critical Uatc LLC
Publication of CA3038542A1 publication Critical patent/CA3038542A1/en
Application granted granted Critical
Publication of CA3038542C publication Critical patent/CA3038542C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/0464—Convolutional networks [CNN, ConvNet]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/09—Supervised learning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4026—Cycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Software Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Mathematical Physics (AREA)
  • Computational Linguistics (AREA)
  • Biophysics (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Business, Economics & Management (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
CA3038542A 2016-10-17 2017-10-12 Neural network system for autonomous vehicle control Active CA3038542C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/295,088 US10452068B2 (en) 2016-10-17 2016-10-17 Neural network system for autonomous vehicle control
US15/295,088 2016-10-17
PCT/US2017/056277 WO2018075325A1 (en) 2016-10-17 2017-10-12 Neural network system for autonomous vehicle control

Publications (2)

Publication Number Publication Date
CA3038542A1 CA3038542A1 (en) 2018-04-26
CA3038542C true CA3038542C (en) 2020-06-02

Family

ID=61902218

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3038542A Active CA3038542C (en) 2016-10-17 2017-10-12 Neural network system for autonomous vehicle control

Country Status (6)

Country Link
US (1) US10452068B2 (enExample)
EP (1) EP3526737B1 (enExample)
JP (1) JP6651678B2 (enExample)
CN (1) CN109863513B (enExample)
CA (1) CA3038542C (enExample)
WO (1) WO2018075325A1 (enExample)

Families Citing this family (85)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10733506B1 (en) * 2016-12-14 2020-08-04 Waymo Llc Object detection neural network
EP4220603A1 (en) 2016-12-23 2023-08-02 Mobileye Vision Technologies Ltd. Navigational system with imposed constraints
JP6828429B2 (ja) * 2016-12-27 2021-02-10 株式会社デンソー 車両用衝突回避支援装置および車両の衝突回避支援方法
US10759415B2 (en) * 2017-02-23 2020-09-01 GM Global Technology Operations LLC Effective rolling radius
KR101878490B1 (ko) * 2017-03-10 2018-07-13 만도헬라일렉트로닉스(주) 차선 인식 시스템 및 방법
CN115855022A (zh) * 2017-04-07 2023-03-28 辉达公司 使用深度神经网络执行自主路径导航
WO2018204917A1 (en) 2017-05-05 2018-11-08 Ball Aerospace & Technologies Corp. Spectral sensing and allocation using deep machine learning
US10271179B1 (en) * 2017-05-05 2019-04-23 Ball Aerospace & Technologies Corp. Geolocation determination using deep machine learning
US11358608B2 (en) * 2017-05-06 2022-06-14 The Texas A&M University System Method and system for vehicular communication and safety monitoring of driving environment to provide early warnings in real-time
KR102628790B1 (ko) * 2017-06-20 2024-01-24 모셔널 에이디 엘엘씨 자율 주행 능력들을 갖는 차량들에 대한 위험 처리
US10621448B2 (en) * 2017-08-02 2020-04-14 Wing Aviation Llc Systems and methods for determining path confidence for unmanned vehicles
US11210744B2 (en) 2017-08-16 2021-12-28 Mobileye Vision Technologies Ltd. Navigation based on liability constraints
US10496098B2 (en) * 2017-09-12 2019-12-03 Baidu Usa Llc Road segment-based routing guidance system for autonomous driving vehicles
US11657266B2 (en) 2018-11-16 2023-05-23 Honda Motor Co., Ltd. Cooperative multi-goal, multi-agent, multi-stage reinforcement learning
US11093829B2 (en) * 2017-10-12 2021-08-17 Honda Motor Co., Ltd. Interaction-aware decision making
WO2019100279A1 (en) * 2017-11-23 2019-05-31 Beijing Didi Infinity Technology And Development Co., Ltd. System and method for estimating arrival time
EP3499406B1 (en) * 2017-12-18 2024-01-31 Aptiv Technologies Limited Methods of processing and generating image data in a connectionist network
US10990096B2 (en) * 2018-04-27 2021-04-27 Honda Motor Co., Ltd. Reinforcement learning on autonomous vehicles
CN108897313A (zh) * 2018-05-23 2018-11-27 清华大学 一种分层式端到端车辆自动驾驶系统构建方法
US11334960B2 (en) * 2018-06-08 2022-05-17 Uatc, Llc Systems and methods for pipelined processing of sensor data using hardware
US11427211B2 (en) * 2018-06-18 2022-08-30 Baidu Usa Llc Methods for handling sensor failures in autonomous driving vehicles
US10457294B1 (en) * 2018-06-27 2019-10-29 Baidu Usa Llc Neural network based safety monitoring system for autonomous vehicles
US11454975B2 (en) 2018-06-28 2022-09-27 Uatc, Llc Providing actionable uncertainties in autonomous vehicles
EP3588226B1 (en) * 2018-06-29 2020-06-24 Zenuity AB Method and arrangement for generating control commands for an autonomous road vehicle
US11987229B2 (en) 2018-07-06 2024-05-21 Eagle Aerospace Ltd. Adaptive braking and directional control system (ABADCS)
EP3625635B1 (en) * 2018-07-09 2020-10-28 Baidu.com Times Technology (Beijing) Co., Ltd. A speed control command auto-calibration system for autonomous vehicles
WO2020014683A1 (en) 2018-07-13 2020-01-16 Kache.AI Systems and methods for autonomous object detection and vehicle following
US20200055524A1 (en) * 2018-08-20 2020-02-20 Alberto LACAZE System and method for verifying that a self-driving vehicle follows traffic ordinances
FR3086491B1 (fr) * 2018-09-26 2020-09-25 Psa Automobiles Sa Assistance a la conduite d’un vehicule, par determination de l’angle de braquage au moyen d’un reseau neuronal sans biais de calcul
US11040714B2 (en) * 2018-09-28 2021-06-22 Intel Corporation Vehicle controller and method for controlling a vehicle
US11182672B1 (en) 2018-10-09 2021-11-23 Ball Aerospace & Technologies Corp. Optimized focal-plane electronics using vector-enhanced deep learning
US11068724B2 (en) * 2018-10-11 2021-07-20 Baidu Usa Llc Deep learning continuous lane lines detection system for autonomous vehicles
CN111090277B (zh) 2018-10-22 2021-11-26 科沃斯机器人股份有限公司 行进控制的方法、设备及存储介质
US10879946B1 (en) 2018-10-30 2020-12-29 Ball Aerospace & Technologies Corp. Weak signal processing systems and methods
US11513515B2 (en) * 2018-11-27 2022-11-29 SparkCognition, Inc. Unmanned vehicles and associated hub devices
WO2020117530A1 (en) 2018-12-03 2020-06-11 Ball Aerospace & Technologies Corp. Star tracker for multiple-mode detection and tracking of dim targets
US11520331B2 (en) * 2018-12-28 2022-12-06 Intel Corporation Methods and apparatus to update autonomous vehicle perspectives
US11353870B2 (en) * 2018-12-31 2022-06-07 Baidu Usa Llc Autonomous driving computing and storage expansion device with flexible host and client configuration
US11851217B1 (en) 2019-01-23 2023-12-26 Ball Aerospace & Technologies Corp. Star tracker using vector-based deep learning for enhanced performance
US10919543B2 (en) * 2019-01-30 2021-02-16 StradVision, Inc. Learning method and learning device for determining whether to switch mode of vehicle from manual driving mode to autonomous driving mode by performing trajectory-based behavior analysis on recent driving route
US11520345B2 (en) * 2019-02-05 2022-12-06 Nvidia Corporation Path perception diversity and redundancy in autonomous machine applications
US11412124B1 (en) 2019-03-01 2022-08-09 Ball Aerospace & Technologies Corp. Microsequencer for reconfigurable focal plane control
JP7434715B2 (ja) * 2019-03-08 2024-02-21 マツダ株式会社 車両用演算システム
WO2020184277A1 (ja) * 2019-03-08 2020-09-17 マツダ株式会社 車両用演算システム
JP2020142760A (ja) * 2019-03-08 2020-09-10 マツダ株式会社 車両用演算システム
JP7434714B2 (ja) * 2019-03-08 2024-02-21 マツダ株式会社 車両用演算システム
US11216001B2 (en) 2019-03-20 2022-01-04 Honda Motor Co., Ltd. System and method for outputting vehicle dynamic controls using deep neural networks
CN111830949B (zh) * 2019-03-27 2024-01-16 广州汽车集团股份有限公司 自动驾驶车辆控制方法、装置、计算机设备和存储介质
US11618502B2 (en) * 2019-03-28 2023-04-04 Volkswagen Aktiengesellschaft On-road localization methodologies and equipment utilizing road surface characteristics
CN113826108A (zh) 2019-05-14 2021-12-21 三星电子株式会社 用于辅助车辆驾驶的电子装置和方法
CN112034829B (zh) * 2019-05-15 2024-07-19 广州汽车集团股份有限公司 一种端到端自动驾驶方法及其系统、车辆
US11488024B1 (en) 2019-05-29 2022-11-01 Ball Aerospace & Technologies Corp. Methods and systems for implementing deep reinforcement module networks for autonomous systems control
US11303348B1 (en) 2019-05-29 2022-04-12 Ball Aerospace & Technologies Corp. Systems and methods for enhancing communication network performance using vector based deep learning
US11120566B2 (en) * 2019-06-28 2021-09-14 Baidu Usa Llc Determining vanishing points based on feature maps
DE102019211457B4 (de) * 2019-07-31 2025-04-30 Volkswagen Aktiengesellschaft Verfahren und System zum Bereitstellen einer kontextabhängigen Wissensbasis zum Plausibilisieren mindestens einer Wahrnehmungsfunktion
NL2023628B9 (nl) * 2019-08-09 2021-08-20 Wilhelmus Maria Van Bentum Johannes Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, autonoom rijdend voer- of (lucht)vaartuig voorzien van een dergelijk systeem.
US11634162B2 (en) 2019-08-16 2023-04-25 Uatc, Llc. Full uncertainty for motion planning in autonomous vehicles
US11828598B1 (en) 2019-08-28 2023-11-28 Ball Aerospace & Technologies Corp. Systems and methods for the efficient detection and tracking of objects from a moving platform
US10609148B1 (en) * 2019-09-17 2020-03-31 Ha Q Tran Smart vehicle
US11520037B2 (en) * 2019-09-30 2022-12-06 Zoox, Inc. Perception system
CN110940310B (zh) * 2019-11-15 2021-12-07 北京遥测技术研究所 弹箭载中继测控终端相控阵天线波束指向角度计算方法
CN110956851B (zh) * 2019-12-02 2020-11-24 清华大学 一种智能网联汽车协同调度换道方法
CN115950440A (zh) 2020-01-03 2023-04-11 御眼视觉技术有限公司 用于车辆导航的系统和方法
JP7396125B2 (ja) 2020-03-03 2023-12-12 オムロン株式会社 モデル生成装置、推定装置、モデル生成方法、及びモデル生成プログラム
JP7464425B2 (ja) * 2020-03-31 2024-04-09 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム
US11458997B2 (en) 2020-03-31 2022-10-04 Uatc, Llc Autonomous vehicle computing system with processing assurance
US12041396B2 (en) * 2020-07-16 2024-07-16 R9 Labs, Llc Systems and methods for processing data proximate to the point of collection
CN111708369B (zh) * 2020-07-17 2021-07-23 武汉科技大学 一种变电站巡检机器人路径规划方法
DE102020211023A1 (de) 2020-09-01 2022-03-03 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Umfeldwahrnehmung eines Umfeldes eines zumindest teilautomatisiert fahrenden Fahrzeugs
CN112254755B (zh) * 2020-11-11 2022-01-04 北京邮电大学 测量信号处理方法、装置、电子设备及可读存储介质
US11707952B2 (en) 2020-11-19 2023-07-25 GM Global Technology Operations LLC Method and system for determining tire effective radius
US11708087B2 (en) * 2021-07-22 2023-07-25 Waymo Llc No-block zone costs in space and time for autonomous vehicles
JP7707846B2 (ja) * 2021-10-15 2025-07-15 オムロン株式会社 経路計画システム、経路計画方法、ロードマップ構築装置、モデル生成装置、及びモデル生成方法
US12164306B1 (en) * 2021-11-19 2024-12-10 Zoox, Inc. Adaptable origin for location offsets
CN114701875A (zh) * 2022-03-08 2022-07-05 中国人民解放军空军工程大学 一种无光条件下铁路车辆装卸载的引导装置及方法
DE112022006402T5 (de) * 2022-03-29 2024-11-14 Hitachi Astemo, Ltd. Arithmetische verarbeitungsvorrichtung und arithmetisches verarbeitungsverfahren
US12221115B1 (en) 2022-04-29 2025-02-11 Zoox, Inc. Self-supervised global velocity determination for perception system
ES2928677A1 (es) * 2022-07-06 2022-11-21 La Iglesia Nieto Javier De Sistema de conduccion ecoeficiente adaptado a la modelización tridimensional geoposicionada de la parametrización del trazado de cualquier infraestructura lineal particularizado al vehiculo
CN117422115A (zh) * 2022-07-06 2024-01-19 通用汽车环球科技运作有限责任公司 用于自动驾驶运载工具的边缘增强增量学习
CN115617040B (zh) * 2022-09-28 2025-03-21 中国人民解放军军事科学院国防科技创新研究院 一种基于深度强化学习的无人车跟随分层控制方法
JP2024174588A (ja) 2023-06-05 2024-12-17 トヨタ自動車株式会社 制御装置、制御プログラム及び制御方法
CN116382179B (zh) * 2023-06-06 2023-08-08 上海临滴科技有限公司 一种调制器集成电路卡及其控制方法
DE102023211076A1 (de) * 2023-11-08 2025-05-08 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und maschinelle Lernsystem zum Generieren von Geschwindigkeiten von Fahrzeugen
CN118098000B (zh) * 2024-04-24 2024-06-21 哈尔滨华鲤跃腾科技有限公司 一种基于人工智能的城市综合管理方法
CN118730145B (zh) * 2024-06-05 2025-09-23 合肥工业大学 一种基于无地图导航的园区物流小车的路径规划方法

Family Cites Families (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5961571A (en) 1994-12-27 1999-10-05 Siemens Corporated Research, Inc Method and apparatus for automatically tracking the location of vehicles
US20080033645A1 (en) 2006-08-03 2008-02-07 Jesse Sol Levinson Pobabilistic methods for mapping and localization in arbitrary outdoor environments
CN101033978B (zh) * 2007-01-30 2010-10-13 珠海市智汽电子科技有限公司 智能汽车辅助导航和自动兼辅助驾驶系统
US8150620B2 (en) 2009-04-14 2012-04-03 Alpine Electronics, Inc. Route search method and apparatus for navigation system utilizing map data of XML format
KR101662595B1 (ko) 2009-11-03 2016-10-06 삼성전자주식회사 사용자 단말 장치, 경로 안내 시스템 및 그 경로 안내 방법
US20120296539A1 (en) 2011-03-23 2012-11-22 Tk Holdings Inc. Driver assistance system
US9140792B2 (en) 2011-06-01 2015-09-22 GM Global Technology Operations LLC System and method for sensor based environmental model construction
US20130060461A1 (en) 2011-09-07 2013-03-07 INRO Technologies Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle
US8873813B2 (en) 2012-09-17 2014-10-28 Z Advanced Computing, Inc. Application of Z-webs and Z-factors to analytics, search engine, learning, recognition, natural language, and other utilities
EP2589932B1 (en) * 2011-11-07 2017-02-08 Elektrobit Automotive GmbH Technique for structuring a navigation database
US8825265B1 (en) 2012-03-16 2014-09-02 Google Inc. Approach for consolidating observed vehicle trajectories into a single representative trajectory
US8521352B1 (en) 2012-05-07 2013-08-27 Google Inc. Controlling a vehicle having inadequate map data
US9958272B2 (en) 2012-08-10 2018-05-01 Telogis, Inc. Real-time computation of vehicle service routes
GB201305067D0 (en) * 2013-03-19 2013-05-01 Massive Analytic Ltd Apparatus for controlling a land vehicle which is self-driving or partially self-driving
RU132393U1 (ru) 2013-03-21 2013-09-20 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Санкт-Петербургский государственный аграрный университет" Устройство автоматического управления безопасностью движения транспортного средства
US9631933B1 (en) 2014-05-23 2017-04-25 Google Inc. Specifying unavailable locations for autonomous vehicles
WO2015195529A1 (en) 2014-06-20 2015-12-23 Google Inc. Integrating online navigation data with cached navigation data during active navigation
US9513132B2 (en) 2014-08-21 2016-12-06 Here Global B.V. Measuring quality in optimal navigation routes by navigation systems
EP3018448B1 (en) 2014-11-04 2021-01-06 Volvo Car Corporation Methods and systems for enabling improved positioning of a vehicle
KR101641490B1 (ko) 2014-12-10 2016-07-21 엘지전자 주식회사 차량 운전 보조 장치 및 이를 구비한 차량
US10262213B2 (en) 2014-12-16 2019-04-16 Here Global B.V. Learning lanes from vehicle probes
KR102623680B1 (ko) * 2015-02-10 2024-01-12 모빌아이 비젼 테크놀로지스 엘티디. 자율 주행을 위한 약도
JP6074553B1 (ja) * 2015-04-21 2017-02-01 パナソニックＩｐマネジメント株式会社 情報処理システム、情報処理方法、およびプログラム
US20170023659A1 (en) 2015-05-08 2017-01-26 5D Robotics, Inc. Adaptive positioning system
US9494439B1 (en) 2015-05-13 2016-11-15 Uber Technologies, Inc. Autonomous vehicle operated with guide assistance of human driven vehicles
DE202016007736U1 (de) 2015-05-28 2017-01-16 Google Inc. Dynamische Integration von Offline- und Onlinedaten in einer geografischen Anwendung
US9841763B1 (en) 2015-12-16 2017-12-12 Uber Technologies, Inc. Predictive sensor array configuration system for an autonomous vehicle
US10347134B2 (en) 2015-12-31 2019-07-09 Gt Gettaxi Limited System for navigating drivers to selected locations to reduce passenger wait time
KR102373926B1 (ko) 2016-02-05 2022-03-14 삼성전자주식회사 이동체 및 이동체의 위치 인식 방법
US9902403B2 (en) 2016-03-03 2018-02-27 Uber Technologies, Inc. Sensory stimulation for an autonomous vehicle
US9739881B1 (en) 2016-03-24 2017-08-22 RFNAV, Inc. Low cost 3D radar imaging and 3D association method from low count linear arrays for all weather autonomous vehicle navigation
JP6575818B2 (ja) * 2016-03-25 2019-09-18 パナソニックＩｐマネジメント株式会社 運転支援方法およびそれを利用した運転支援装置、自動運転制御装置、車両、運転支援システム、プログラム
US9953523B2 (en) 2016-04-22 2018-04-24 Here Global B.V. Node-centric navigation optimization
US10255816B2 (en) 2016-04-27 2019-04-09 Uber Technologies, Inc. Transport vehicle configuration for impaired riders
US10438493B2 (en) 2016-08-24 2019-10-08 Uber Technologies, Inc. Hybrid trip planning for autonomous vehicles
US20180060778A1 (en) 2016-08-31 2018-03-01 Uber Technologies, Inc. Driver location prediction for a transportation service
US10515390B2 (en) 2016-11-21 2019-12-24 Nio Usa, Inc. Method and system for data optimization
US9904375B1 (en) 2017-04-10 2018-02-27 Uber Technologies, Inc. LIDAR display systems and methods

Also Published As

Publication number Publication date
CN109863513A (zh) 2019-06-07
CN109863513B (zh) 2021-09-28
WO2018075325A1 (en) 2018-04-26
EP3526737A4 (en) 2020-03-25
EP3526737A1 (en) 2019-08-21
EP3526737B1 (en) 2022-08-03
JP2019533810A (ja) 2019-11-21
CA3038542A1 (en) 2018-04-26
US20180107215A1 (en) 2018-04-19
US10452068B2 (en) 2019-10-22
JP6651678B2 (ja) 2020-02-19

Similar Documents

Publication Publication Date Title
CA3038542C (en) Neural network system for autonomous vehicle control
US20200209857A1 (en) Multimodal control system for self driving vehicle
US11619940B2 (en) Operating an autonomous vehicle according to road user reaction modeling with occlusions
US11231286B2 (en) Dynamic routing for self-driving vehicles
US11462022B2 (en) Traffic signal analysis system
US10296001B2 (en) Radar multipath processing
US10518770B2 (en) Hierarchical motion planning for autonomous vehicles
CA3043211C (en) Dynamic routing for autonomous vehicles
JP6741871B2 (ja) 自律走行車両のソリューションパスオーバーレイインタフェース
EP4120217A1 (en) Batch control for autonomous vehicles
US20180224850A1 (en) Autonomous vehicle control system implementing teleassistance
US11753012B2 (en) Systems and methods for controlling the operation of an autonomous vehicle using multiple traffic light detectors

Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20191010