JP2024544196A - 時間トラッカー付き車両知覚システム - Google Patents

時間トラッカー付き車両知覚システム Download PDF

Info

Publication number
JP2024544196A
JP2024544196A JP2024532785A JP2024532785A JP2024544196A JP 2024544196 A JP2024544196 A JP 2024544196A JP 2024532785 A JP2024532785 A JP 2024532785A JP 2024532785 A JP2024532785 A JP 2024532785A JP 2024544196 A JP2024544196 A JP 2024544196A
Authority
JP
Japan
Prior art keywords
data
machine learning
learning model
vehicle
environment
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.)
Pending
Application number
JP2024532785A
Other languages
English (en)
Japanese (ja)
Other versions
JP2024544196A5 (https=
Inventor
ウー チェン－シン
ダス スブハシス
ライ ポー－ジェン
ソング キアン
イサーク ツヴィーベル ベンジャミン
Original Assignee
ズークス インコーポレイテッド
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 ズークス インコーポレイテッド filed Critical ズークス インコーポレイテッド
Publication of JP2024544196A publication Critical patent/JP2024544196A/ja
Publication of JP2024544196A5 publication Critical patent/JP2024544196A5/ja
Pending legal-status Critical Current

Links

Images

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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18159—Traversing an intersection
    • 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
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • 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
    • 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
    • B60W2554/404—Characteristics
    • 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
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/25—Data precision
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • G06N3/044—Recurrent networks, e.g. Hopfield networks
    • G06N3/0442—Recurrent networks, e.g. Hopfield networks characterised by memory or gating, e.g. long short-term memory [LSTM] or gated recurrent units [GRU]
    • 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
    • G06N3/045—Combinations of networks
    • 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]

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Computing Systems (AREA)
  • Multimedia (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Data Mining & Analysis (AREA)
  • Mathematical Physics (AREA)
  • General Engineering & Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Computational Linguistics (AREA)
  • Molecular Biology (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2024532785A 2021-12-03 2022-12-01 時間トラッカー付き車両知覚システム Pending JP2024544196A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US17/542,352 2021-12-03
US17/542,352 US12030528B2 (en) 2021-12-03 2021-12-03 Vehicle perception system with temporal tracker
PCT/US2022/051550 WO2023102126A1 (en) 2021-12-03 2022-12-01 Vehicle perception system with temporal tracker

Publications (2)

Publication Number Publication Date
JP2024544196A true JP2024544196A (ja) 2024-11-28
JP2024544196A5 JP2024544196A5 (https=) 2025-11-28

Family

ID=86608987

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024532785A Pending JP2024544196A (ja) 2021-12-03 2022-12-01 時間トラッカー付き車両知覚システム

Country Status (5)

Country Link
US (1) US12030528B2 (https=)
EP (1) EP4440897A4 (https=)
JP (1) JP2024544196A (https=)
CN (1) CN118339067A (https=)
WO (1) WO2023102126A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12436531B2 (en) * 2023-05-04 2025-10-07 AIM Intelligent Machines, Inc. Augmented learning model for autonomous earth-moving vehicles

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12488595B2 (en) * 2022-12-05 2025-12-02 Nvidia Corporation Object track management for autonomous systems and applications

Family Cites Families (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11205120B2 (en) * 2016-12-22 2021-12-21 Samsung Electronics Co., Ltd System and method for training deep learning classification networks
US10037613B1 (en) 2017-03-30 2018-07-31 Uber Technologies, Inc. Systems and methods to track vehicles proximate perceived by an autonomous vehicle
US10809361B2 (en) * 2017-05-31 2020-10-20 Uatc, Llc Hybrid-view LIDAR-based object detection
US20190079526A1 (en) * 2017-09-08 2019-03-14 Uber Technologies, Inc. Orientation Determination in Object Detection and Tracking for Autonomous Vehicles
WO2019094843A1 (en) * 2017-11-10 2019-05-16 Nvidia Corporation Systems and methods for safe and reliable autonomous vehicles
JP6917878B2 (ja) 2017-12-18 2021-08-11 日立Astemo株式会社 移動体挙動予測装置
US11157527B2 (en) 2018-02-20 2021-10-26 Zoox, Inc. Creating clean maps including semantic information
US11768292B2 (en) * 2018-03-14 2023-09-26 Uatc, Llc Three-dimensional object detection
US10776941B2 (en) 2018-07-02 2020-09-15 Chiral Software, Inc. Optimized neural network structure
CN119078812A (zh) * 2018-08-14 2024-12-06 御眼视觉技术有限公司 具有安全距离的导航的系统和方法
US11195418B1 (en) 2018-10-04 2021-12-07 Zoox, Inc. Trajectory prediction on top-down scenes and associated model
US20200133272A1 (en) 2018-10-29 2020-04-30 Aptiv Technologies Limited Automatic generation of dimensionally reduced maps and spatiotemporal localization for navigation of a vehicle
US10936902B1 (en) 2018-11-27 2021-03-02 Zoox, Inc. Training bounding box selection
US11170299B2 (en) * 2018-12-28 2021-11-09 Nvidia Corporation Distance estimation to objects and free-space boundaries in autonomous machine applications
US11354913B1 (en) * 2019-11-27 2022-06-07 Woven Planet North America, Inc. Systems and methods for improving vehicle predictions using point representations of scene
US11462041B2 (en) * 2019-12-23 2022-10-04 Zoox, Inc. Pedestrians with objects
US11789155B2 (en) * 2019-12-23 2023-10-17 Zoox, Inc. Pedestrian object detection training
US11719821B2 (en) * 2020-02-21 2023-08-08 BlueSpace.ai, Inc. Method for object avoidance during autonomous navigation
KR102462733B1 (ko) * 2020-03-03 2022-11-04 한국과학기술연구원 샴 네트워크를 활용하는 강인한 다중 객체 검출 장치 및 방법
JP7359735B2 (ja) * 2020-04-06 2023-10-11 トヨタ自動車株式会社 物体状態識別装置、物体状態識別方法及び物体状態識別用コンピュータプログラムならびに制御装置
US11708093B2 (en) * 2020-05-08 2023-07-25 Zoox, Inc. Trajectories with intent
EP3935413B1 (en) * 2020-05-15 2024-07-24 Baidu.com Times Technology (Beijing) Co., Ltd. Partial point cloud-based pedestrians' velocity estimation method
CA3139421A1 (en) * 2020-11-17 2022-05-17 Uatc, Llc Automatic annotation of object trajectories in multiple dimensions
US12214801B2 (en) * 2020-11-17 2025-02-04 Aurora Operations, Inc. Generating autonomous vehicle testing data through perturbations and adversarial loss functions
US12060076B2 (en) * 2020-12-09 2024-08-13 Zoox, Inc. Determining inputs for perception system
JP2023552105A (ja) * 2020-12-11 2023-12-14 ヒューマニシング オートノミー リミテッド 人間行動のオクルージョン対応予測
US11538185B2 (en) 2020-12-11 2022-12-27 Zoox, Inc. Localization based on semantic objects
US11810365B1 (en) * 2020-12-15 2023-11-07 Zoox, Inc. Perception error modeling
US11603116B2 (en) * 2020-12-16 2023-03-14 Zoox, Inc. Determining safety area based on bounding box
EP4264181A4 (en) * 2020-12-17 2024-10-30 May Mobility, Inc. METHOD AND SYSTEM FOR DYNAMIC UPDATING AN ENVIRONMENTAL REPRESENTATION OF AN AUTONOMOUS AGENT
US12030522B2 (en) * 2020-12-30 2024-07-09 Zoox, Inc. Collision avoidance using an object contour
US11829449B2 (en) * 2020-12-30 2023-11-28 Zoox, Inc. Intermediate input for machine learned model
CN113158763B (zh) * 2021-02-23 2021-12-07 清华大学 4d毫米波和激光点云多视角特征融合的三维目标检测方法
KR102313940B1 (ko) 2021-05-14 2021-10-18 주식회사 인피닉 연속된 3d 데이터에서 객체 추적 방법 및 이를 실행하기 위하여 기록매체에 기록된 컴퓨터 프로그램
US11611707B2 (en) * 2021-05-24 2023-03-21 Anduril Industries, Inc. Auto-focus tracking for remote flying targets
US20230003872A1 (en) * 2021-06-30 2023-01-05 Zoox, Inc. Tracking objects with radar data
US12246748B2 (en) * 2022-01-31 2025-03-11 Zoox, Inc. Radar object classification based on radar cross-section data
US20230260266A1 (en) * 2022-02-15 2023-08-17 Waymo Llc Camera-radar data fusion for efficient object detection

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12436531B2 (en) * 2023-05-04 2025-10-07 AIM Intelligent Machines, Inc. Augmented learning model for autonomous earth-moving vehicles

Also Published As

Publication number Publication date
CN118339067A (zh) 2024-07-12
EP4440897A1 (en) 2024-10-09
US20230174110A1 (en) 2023-06-08
WO2023102126A1 (en) 2023-06-08
US12030528B2 (en) 2024-07-09
EP4440897A4 (en) 2025-12-03

Similar Documents

Publication Publication Date Title
US12097844B2 (en) Constraining vehicle operation based on uncertainty in perception and/or prediction
US11150660B1 (en) Scenario editor and simulator
US12080172B2 (en) System for sparsely representing and storing geographic and map data
US12055935B2 (en) Perpendicular cut-in training
CN112977473B (zh) 用于预测移动障碍物驶出十字路口的方法及系统
US20210269065A1 (en) Perpendicular cut-in detection
US12071157B1 (en) Correlating perception errors with vehicle behavior
US12296858B2 (en) Hybrid log simulated driving
JP7597808B2 (ja) 統計モデルを用いる衝突モニタリング
JP2024513666A (ja) ログデータに基づいたシミュレートされた環境でのオブジェクトのインスタンス化
JP2024544196A (ja) 時間トラッカー付き車両知覚システム
US12291240B1 (en) System for simulating an autonomous vehicle using a trajectory library and log data
US11710296B2 (en) End-to-end vehicle perception system training
JP2025522708A (ja) 通行権の決定
US12240445B1 (en) Object tracking based on temporal data attribute inferences
US11938966B1 (en) Vehicle perception system validation
US12333823B1 (en) Machine-learned model training for inferring object attributes from distortions in temporal data
JP7662656B2 (ja) 直角割り込みトレーニング
US11780471B1 (en) System for determining a state of an object using thermal data
JP2024509086A (ja) 運転シミュレーションにおけるエージェント変換
US12585272B1 (en) Error prioritization for improving machine learned models
US12352579B1 (en) Localization performance metric
US12287405B1 (en) Inferring object attributes from distortions in temporal data
US12436284B1 (en) Inferring object attributes from track associations
US20250347519A1 (en) Vehicle localization and mapping based on sensor data eliability determinations

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20251119

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20251119