JP7358384B2 - 方法及び自律走行車両 - Google Patents

方法及び自律走行車両 Download PDF

Info

Publication number
JP7358384B2
JP7358384B2 JP2020555890A JP2020555890A JP7358384B2 JP 7358384 B2 JP7358384 B2 JP 7358384B2 JP 2020555890 A JP2020555890 A JP 2020555890A JP 2020555890 A JP2020555890 A JP 2020555890A JP 7358384 B2 JP7358384 B2 JP 7358384B2
Authority
JP
Japan
Prior art keywords
vehicle
additional
yaw
velocity
lidar 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
JP2020555890A
Other languages
English (en)
Japanese (ja)
Other versions
JP2021521050A (ja
JP2021521050A5 (https=
Inventor
ウォレン スミス
イサン イーデ
スターリング ジェー アンダーソン
ジェームズ アンドリュー バグネル
バーソロメウス シー ナブ
クリストファー ポール アームソン
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
Aurora Operations Inc
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 Aurora Operations Inc filed Critical Aurora Operations Inc
Publication of JP2021521050A publication Critical patent/JP2021521050A/ja
Publication of JP2021521050A5 publication Critical patent/JP2021521050A5/ja
Application granted granted Critical
Publication of JP7358384B2 publication Critical patent/JP7358384B2/ja
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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • 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
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/81—Handing over between on-board automatic and on-board manual control
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
    • G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
    • G06F18/217—Validation; Performance evaluation; Active pattern learning techniques
    • G06F18/2178—Validation; Performance evaluation; Active pattern learning techniques based on feedback of a supervisor
    • 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
    • G06N3/04—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]
    • 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
    • G06N3/084—Backpropagation, e.g. using gradient descent
    • 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
    • B60W2420/408—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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • 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
    • B60W2554/4041—Position
    • 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
    • B60W2554/803—Relative lateral speed
    • 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
    • B60W2754/00—Output or target parameters relating to objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Data Mining & Analysis (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Computational Linguistics (AREA)
  • Biophysics (AREA)
  • Biomedical Technology (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Traffic Control Systems (AREA)
  • Business, Economics & Management (AREA)
  • Game Theory and Decision Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • User Interface Of Digital Computer (AREA)
JP2020555890A 2018-04-11 2019-03-28 方法及び自律走行車両 Active JP7358384B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201862655965P 2018-04-11 2018-04-11
US62/655,965 2018-04-11
US16/173,660 US10906536B2 (en) 2018-04-11 2018-10-29 Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle
US16/173,660 2018-10-29
PCT/US2019/024672 WO2019199474A1 (en) 2018-04-11 2019-03-28 Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle

Publications (3)

Publication Number Publication Date
JP2021521050A JP2021521050A (ja) 2021-08-26
JP2021521050A5 JP2021521050A5 (https=) 2022-03-16
JP7358384B2 true JP7358384B2 (ja) 2023-10-10

Family

ID=68160190

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020555890A Active JP7358384B2 (ja) 2018-04-11 2019-03-28 方法及び自律走行車両

Country Status (6)

Country Link
US (6) US10676085B2 (https=)
EP (1) EP3774477B1 (https=)
JP (1) JP7358384B2 (https=)
KR (2) KR102464758B1 (https=)
CN (2) CN112313133B (https=)
WO (2) WO2019199474A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11964663B2 (en) 2018-04-11 2024-04-23 Aurora Operations, Inc. Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle

Families Citing this family (77)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102443626B1 (ko) 2016-11-29 2022-09-14 블랙모어 센서스 앤드 애널리틱스, 엘엘씨 포인트 클라우드 데이터 세트에서 객체의 분류를 위한 방법 및 시스템
WO2018125438A2 (en) 2016-11-30 2018-07-05 Blackmore Sensors and Analytics Inc. Method and system for adaptive scanning with optical ranging systems
CN110140064B (zh) 2016-11-30 2023-07-18 布莱克莫尔传感器和分析有限责任公司 利用光学测距系统进行自动实时自适应扫描的方法和系统
CN110114632B (zh) 2016-11-30 2021-10-29 布莱克莫尔传感器和分析有限责任公司 用于对光学啁啾距离检测进行多普勒检测和多普勒校正的方法和系统
US10422880B2 (en) 2017-02-03 2019-09-24 Blackmore Sensors and Analytics Inc. Method and system for doppler detection and doppler correction of optical phase-encoded range detection
US10401495B2 (en) 2017-07-10 2019-09-03 Blackmore Sensors and Analytics Inc. Method and system for time separated quadrature detection of doppler effects in optical range measurements
US11307309B2 (en) * 2017-12-14 2022-04-19 COM-IoT Technologies Mobile LiDAR platforms for vehicle tracking
US11620419B2 (en) * 2018-01-24 2023-04-04 Toyota Research Institute, Inc. Systems and methods for identifying human-based perception techniques
US11550061B2 (en) * 2018-04-11 2023-01-10 Aurora Operations, Inc. Control of autonomous vehicle based on environmental object classification determined using phase coherent LIDAR data
WO2019209727A1 (en) * 2018-04-23 2019-10-31 Blackmore Sensors and Analytics Inc. Method and system for controlling autonomous vehicle using coherent range doppler optical sensors
US10839262B2 (en) 2018-04-24 2020-11-17 Here Global B.V. Machine learning a feature detector using synthetic training data
JP6661695B2 (ja) * 2018-05-09 2020-03-11 三菱電機株式会社 移動体検出装置、車両制御システム、移動体検出方法および車両制御方法
US11354406B2 (en) * 2018-06-28 2022-06-07 Intel Corporation Physics-based approach for attack detection and localization in closed-loop controls for autonomous vehicles
USD922889S1 (en) * 2018-06-29 2021-06-22 Zoox, Inc. Sensor housing
US11726210B2 (en) 2018-08-05 2023-08-15 COM-IoT Technologies Individual identification and tracking via combined video and lidar systems
US11061406B2 (en) * 2018-10-22 2021-07-13 Waymo Llc Object action classification for autonomous vehicles
US11086319B2 (en) 2018-11-02 2021-08-10 Aurora Operations, Inc. Generating testing instances for autonomous vehicles
US11209821B2 (en) 2018-11-02 2021-12-28 Aurora Operations, Inc. Labeling autonomous vehicle data
US11256263B2 (en) 2018-11-02 2022-02-22 Aurora Operations, Inc. Generating targeted training instances for autonomous vehicles
US11829143B2 (en) 2018-11-02 2023-11-28 Aurora Operations, Inc. Labeling autonomous vehicle data
US11403492B2 (en) 2018-11-02 2022-08-02 Aurora Operations, Inc. Generating labeled training instances for autonomous vehicles
US11163312B2 (en) 2018-11-02 2021-11-02 Aurora Operations, Inc. Removable automotive LIDAR data collection POD
JP7208388B2 (ja) * 2018-11-13 2023-01-18 ブラックモア センサーズ アンド アナリティクス エルエルシー 位相エンコーディングｌｉｄａｒにおける内部反射減算のためのレーザー位相追跡方法およびシステム
US10831209B2 (en) * 2018-12-19 2020-11-10 Fca Us Llc Using a long-term recurrent convolutional network to plan a sequence of lateral controls in autonomous driving
CN113260873A (zh) 2019-01-04 2021-08-13 布莱克莫尔传感器和分析有限责任公司 带有具有折射分面的可旋转多边形偏转器的lidar设备
US11822010B2 (en) 2019-01-04 2023-11-21 Blackmore Sensors & Analytics, Llc LIDAR system
JP2020148593A (ja) * 2019-03-13 2020-09-17 株式会社明電舎 自動操縦ロボットを制御する操作推論学習モデルの学習システム及び学習方法
CN109782015B (zh) * 2019-03-21 2024-11-29 同方威视技术股份有限公司 激光测速方法、控制装置和激光测速仪
US11016496B2 (en) * 2019-04-10 2021-05-25 Argo AI, LLC Transferring synthetic LiDAR system data to real world domain for autonomous vehicle training applications
JP7351706B2 (ja) * 2019-10-15 2023-09-27 株式会社Soken 物体追跡装置
KR102693851B1 (ko) * 2019-10-25 2024-08-13 현대모비스 주식회사 자동차용 센서 통합 모듈
US11657290B2 (en) * 2019-10-28 2023-05-23 Robert Bosch Gmbh System and method with a robust deep generative model
US20220383055A1 (en) * 2019-11-08 2022-12-01 Sony Group Corporation Information processing apparatus and information processing method
US11531107B2 (en) * 2019-11-19 2022-12-20 Volvo Car Corporation Long range LIDAR-based speed estimation
US10732261B1 (en) * 2019-12-31 2020-08-04 Aurora Innovation, Inc. Generating data using radar observation model based on machine learning
US12372655B2 (en) * 2020-02-18 2025-07-29 Synaptics Incorporated Through-display time-of-flight (ToF) sensor
US10733463B1 (en) * 2020-03-31 2020-08-04 Lyft, Inc. Systems and methods for augmenting perception data with supplemental information
US11906967B1 (en) * 2020-03-31 2024-02-20 Zoox, Inc. Determining yaw with learned motion model
US12275427B1 (en) * 2020-04-21 2025-04-15 Google Llc Evaluating driving data using autonomous vehicle control system
US11782451B1 (en) 2020-04-21 2023-10-10 Aurora Operations, Inc. Training machine learning model for controlling autonomous vehicle
US11919529B1 (en) 2020-04-21 2024-03-05 Aurora Operations, Inc. Evaluating autonomous vehicle control system
EP3901656A1 (en) 2020-04-23 2021-10-27 Yandex Self Driving Group Llc Lidar systems and methods determining distance to object from lidar system
US12007791B2 (en) 2020-05-11 2024-06-11 Soter Technology Inc Multi-drone/sensor platform with information lateralization and federated path planning
EP3935413B1 (en) * 2020-05-15 2024-07-24 Baidu.com Times Technology (Beijing) Co., Ltd. Partial point cloud-based pedestrians' velocity estimation method
KR102283237B1 (ko) * 2020-05-29 2021-07-29 서울대학교산학협력단 데이터 주도 기계학습 기반 차량 조향 특성 모델 실시간 규명 장치 및 방법
US11157010B1 (en) 2020-06-05 2021-10-26 Gatik Ai Inc. Method and system for deterministic trajectory selection based on uncertainty estimation for an autonomous agent
EP4162339B1 (en) 2020-06-05 2025-07-02 Gatik AI Inc. Method and system for data-driven and modular decision making and trajectory generation of an autonomous agent
EP4162337B1 (en) 2020-06-05 2025-07-09 Gatik AI Inc. Method and system for context-aware decision making of an autonomous agent
US11989020B1 (en) 2020-07-14 2024-05-21 Aurora Operations, Inc. Training machine learning model(s), in simulation, for use in controlling autonomous vehicle(s)
US11960290B2 (en) * 2020-07-28 2024-04-16 Uatc, Llc Systems and methods for end-to-end trajectory prediction using radar, LIDAR, and maps
US12181878B2 (en) * 2020-10-22 2024-12-31 Waymo Llc Velocity estimation and object tracking for autonomous vehicle applications
US11841439B2 (en) * 2020-11-02 2023-12-12 Waymo Llc Point cloud segmentation using a coherent lidar for autonomous vehicle applications
US12233905B2 (en) 2020-11-02 2025-02-25 Waymo Llc Classification of objects based on motion patterns for autonomous vehicle applications
GB2600695A (en) * 2020-11-03 2022-05-11 Daimler Ag A method for estimating an attribute of an entity for an autonomous control system such as an at least partially autonomous motor vehicle
US12284655B2 (en) * 2020-11-04 2025-04-22 Huawei Technologies Co., Ltd. Waveform adaptation for integrated communications and sensing
US12050267B2 (en) 2020-11-09 2024-07-30 Waymo Llc Doppler-assisted object mapping for autonomous vehicle applications
WO2022104259A1 (en) * 2020-11-16 2022-05-19 Oculii Corp. System and method for radar-based localization and/or mapping
US11656629B1 (en) 2020-12-08 2023-05-23 Waymo Llc Detection of particulate matter in autonomous vehicle applications
JP7472784B2 (ja) * 2020-12-28 2024-04-23 トヨタ自動車株式会社 車両電子制御装置、車両電子制御方法及び車両制御プログラム
US11508089B2 (en) * 2021-03-05 2022-11-22 Black Sesame Technologies Inc. LiDAR assisted wheel encoder to camera calibration
US20220315040A1 (en) * 2021-03-30 2022-10-06 Ghost Locomotion Inc. Selective model execution in an autonomous vehicle
EP4320019A4 (en) 2021-04-07 2025-02-19 Ridecell, Inc. SYSTEMATIC APPROACH TO SYSTEM IDENTIFICATION-BASED YAW RATE ESTIMATION USING LOW-COST IMU+GPS UNITS
US11734909B2 (en) * 2021-05-04 2023-08-22 Ford Global Technologies, Llc Machine learning
US12216474B1 (en) 2021-05-04 2025-02-04 Waymo Llc Vibrometry-based behavior prediction for autonomous vehicle applications
US20230003871A1 (en) * 2021-06-30 2023-01-05 Zoox, Inc. Associating radar data with tracked objects
US11760368B2 (en) * 2021-10-19 2023-09-19 Cyngn, Inc. System and method of same-loop adaptive simulation for autonomous driving
US12065153B1 (en) * 2021-12-16 2024-08-20 Zoox, Inc. Resolving vehicle issues based on log data
CA3240477A1 (en) 2021-12-16 2023-06-22 Apeksha Kumavat Method and system for expanding the operational design domain of an autonomous agent
CA3240409A1 (en) 2021-12-16 2023-06-22 Apeksha Kumavat Method and system for addressing failure in an autonomous agent
US12130363B2 (en) 2022-02-03 2024-10-29 Aurora Operations, Inc. LIDAR system
US12196843B2 (en) 2022-05-26 2025-01-14 Waymo Llc Methods and systems for radar waveform diversity
KR102647477B1 (ko) 2022-06-21 2024-03-14 (주)뉴빌리티 자율주행을 위한 횡방향 제어 장치 및 방법
US12228652B2 (en) * 2022-08-29 2025-02-18 Hyundai Mobis Co., Ltd. Apparatus for estimating vehicle pose using lidar sensor and method thereof
KR20240052377A (ko) * 2022-10-14 2024-04-23 삼성전자주식회사 컷인 차량의 움직임 예측 방법 및 장치
CN116279457B (zh) * 2023-05-15 2023-08-01 北京斯年智驾科技有限公司 基于雷达点云的防撞方法、装置、设备及存储介质
US12571914B2 (en) 2023-10-05 2026-03-10 Aurora Operations, Inc. Systems and methods of LIDAR sensor systems having amplifier protection circuits
US12409824B1 (en) 2024-12-20 2025-09-09 Gatik Ai Inc. Drive-by-wire vehicle architecture

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016200443A (ja) 2015-04-08 2016-12-01 トヨタ自動車株式会社 障害物検出装置
JP2017502315A (ja) 2013-12-19 2017-01-19 ディーエスシージー ソルーションズ，インコーポレイテッド 単一レーザーｌｉｄａｒシステム
WO2017013750A1 (ja) 2015-07-21 2017-01-26 日産自動車株式会社 運転計画装置、走行支援装置、運転計画方法
JP2017516110A (ja) 2014-05-21 2017-06-15 ディーエスシージー ソルーションズ，インコーポレイテッド 物体をリアルタイムで追跡するためのデバイス、システム、および方法
WO2017158768A1 (ja) 2016-03-16 2017-09-21 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム

Family Cites Families (108)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3477616A (en) * 1968-01-16 1969-11-11 Mainar Sa Ind Metering device
US3987297A (en) 1975-06-09 1976-10-19 United Technologies Corporation Monopulse optical receiver system
SE432224B (sv) * 1983-08-04 1984-03-26 Stig Holmgren Sekerhetsinrettning vid fordon
US7629899B2 (en) 1997-10-22 2009-12-08 Intelligent Technologies International, Inc. Vehicular communication arrangement and method
JP3651259B2 (ja) * 1998-05-01 2005-05-25 日産自動車株式会社 先行車追従制御装置
DE19851027C2 (de) * 1998-11-05 2000-09-21 Daimler Chrysler Ag Kopfstütze für Fahrzeugsitze
JP3795299B2 (ja) * 2000-04-07 2006-07-12 本田技研工業株式会社 車両制御装置
DE10130663A1 (de) * 2001-06-28 2003-01-23 Continental Teves Ag & Co Ohg Verfahren zum Modifizieren einer Fahrstabilitätsregelung eines Fahrzeugs
DE10148071A1 (de) * 2001-09-28 2003-04-17 Ibeo Automobile Sensor Gmbh Verfahren zur Erkennung und Verfolgung von Objekten
JP3985595B2 (ja) * 2002-06-14 2007-10-03 株式会社日立製作所 自動車の走行制御装置
CN100365430C (zh) * 2002-07-15 2008-01-30 汽车系统实验室公司 道路曲率估计和车辆目标状态估计系统
DE10353348A1 (de) 2003-11-14 2005-06-02 Ibeo Automobile Sensor Gmbh Verfahren zur Verfolgung von Objekten
AU2006306523B2 (en) 2005-10-21 2011-05-19 Deere & Company Systems and methods for switching between autonomous and manual operation of a vehicle
US20070118263A1 (en) * 2005-11-22 2007-05-24 Nelson Frederick W Direction determination utilizing vehicle yaw rate and change in steering position
US8050863B2 (en) 2006-03-16 2011-11-01 Gray & Company, Inc. Navigation and control system for autonomous vehicles
EP2112042B1 (en) * 2008-04-25 2015-07-08 Ford Global Technologies, LLC Yaw stability control system capable of returning the vehicle to a pre body-force-disturbance heading
US7744154B2 (en) * 2008-07-30 2010-06-29 Cosco Management, Inc. Energy-dissipation system
US8229663B2 (en) * 2009-02-03 2012-07-24 GM Global Technology Operations LLC Combined vehicle-to-vehicle communication and object detection sensing
WO2012140309A1 (en) 2011-04-14 2012-10-18 Nokia Siemens Networks Oy JOINT TRANSMISSION CoMP WITH SINGLE CARRIER CELL AGGREGATION
DE102013100446B4 (de) * 2012-01-25 2020-01-09 Denso Corporation Spurhalte-Steuersystem
EP2637072B1 (en) * 2012-03-05 2017-10-11 Volvo Car Corporation Path following of a target vehicle
US8825265B1 (en) * 2012-03-16 2014-09-02 Google Inc. Approach for consolidating observed vehicle trajectories into a single representative trajectory
DE102012008391A1 (de) * 2012-04-26 2013-10-31 Trw Automotive Gmbh Fahrzeuginsassenschutzsystem
US8849557B1 (en) * 2012-11-15 2014-09-30 Google Inc. Leveraging of behavior of vehicles to detect likely presence of an emergency vehicle
US8849494B1 (en) 2013-03-15 2014-09-30 Google Inc. Data selection by an autonomous vehicle for trajectory modification
US9463725B2 (en) * 2013-04-03 2016-10-11 AISIN Technical Center of America, Inc. Comfort headrest
US8983705B2 (en) * 2013-04-30 2015-03-17 Google Inc. Methods and systems for detecting weather conditions including fog using vehicle onboard sensors
KR102040353B1 (ko) 2013-04-11 2019-11-04 웨이모 엘엘씨 차량 온보드 센서들을 사용하여 날씨 상태들을 검출하는 방법들 및 시스템들
US9254846B2 (en) * 2013-05-03 2016-02-09 Google Inc. Predictive reasoning for controlling speed of a vehicle
US9523772B2 (en) * 2013-06-14 2016-12-20 Microsoft Technology Licensing, Llc Object removal using lidar-based classification
CN103496366B (zh) * 2013-09-09 2016-02-24 北京航空航天大学 一种基于车车协同的主动换道避撞控制方法与装置
KR101470221B1 (ko) * 2013-10-17 2014-12-05 현대자동차주식회사 현가 제어 장치 및 그 방법
WO2015134311A1 (en) 2014-03-03 2015-09-11 Inrix Inc Traffic obstruction detection
US9834207B2 (en) * 2014-04-15 2017-12-05 GM Global Technology Operations LLC Method and system for detecting, tracking and estimating stationary roadside objects
US20160107552A1 (en) * 2014-09-02 2016-04-21 Olivia Wakeman Multi-function customizable cover
US20170247038A1 (en) * 2014-10-20 2017-08-31 Politecnico Di Milano Method For Estimating A Vehicle Side Slip Angle, Computer Program Implementing Said Method, Control Unit Having Said Computer Program Loaded, And Vehicle Comprising Said Control Unit
KR20160093465A (ko) 2015-01-29 2016-08-08 엘지전자 주식회사 차량용 레이더 장치, 차량 운전 보조 장치, 차량 및 차량용 레이더 장치의 동작 방법
US10481696B2 (en) * 2015-03-03 2019-11-19 Nvidia Corporation Radar based user interface
WO2016164435A1 (en) 2015-04-07 2016-10-13 Oewaves, Inc. Compact lidar system
US10082797B2 (en) * 2015-09-16 2018-09-25 Ford Global Technologies, Llc Vehicle radar perception and localization
US9481277B1 (en) * 2015-09-23 2016-11-01 Ford Global Technologies, Llc Adjustable headrest
US9734455B2 (en) 2015-11-04 2017-08-15 Zoox, Inc. Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles
US9606539B1 (en) 2015-11-04 2017-03-28 Zoox, Inc. Autonomous vehicle fleet service and system
US9632502B1 (en) 2015-11-04 2017-04-25 Zoox, Inc. Machine-learning systems and techniques to optimize teleoperation and/or planner decisions
RU2617727C1 (ru) * 2015-12-02 2017-04-26 Общество с ограниченной ответственностью "КБ Аврора" Способ определения относительного взаимного положения ведущего и ведомого транспортного средства и устройство для его осуществления
US10220752B2 (en) * 2016-01-13 2019-03-05 Ford Global Technologies, Llc Adjustable headrest assembly with neck support feature
US9940834B1 (en) 2016-01-22 2018-04-10 State Farm Mutual Automobile Insurance Company Autonomous vehicle application
JP6480366B2 (ja) * 2016-03-14 2019-03-06 株式会社Ｓｏｋｅｎ 自動運転制御装置、自動運転制御方法、および運転情報出力方法
US10088553B2 (en) * 2016-03-14 2018-10-02 GM Global Technology Operations LLC Method of automatic sensor pose estimation
CN116659526A (zh) 2016-03-15 2023-08-29 康多尔收购第二分公司 用于提供车辆认知的系统和方法
US9463752B1 (en) 2016-03-16 2016-10-11 Donna L. E. Lehtonen Purse securing device
WO2017158658A1 (ja) * 2016-03-16 2017-09-21 パナソニックＩｐマネジメント株式会社 運転解析装置及び運転解析システム
WO2017168586A1 (ja) * 2016-03-29 2017-10-05 パイオニア株式会社 算出装置、制御方法、プログラム及び記憶媒体
JP6500826B2 (ja) * 2016-04-08 2019-04-17 トヨタ自動車株式会社 乗員保護装置
US20200222010A1 (en) 2016-04-22 2020-07-16 Newton Howard System and method for deep mind analysis
US10328935B2 (en) * 2016-06-08 2019-06-25 GM Global Technology Operations LLC Adaptive cruise control system and method of operating the same
US20180053102A1 (en) 2016-08-16 2018-02-22 Toyota Jidosha Kabushiki Kaisha Individualized Adaptation of Driver Action Prediction Models
US20180188736A1 (en) 2016-08-16 2018-07-05 Faraday&Future Inc. System and method for vehicle localization assistance using sensor data
EP3285230B1 (en) * 2016-08-19 2021-04-07 Veoneer Sweden AB Enhanced object detection and motion estimation for a vehicle environment detection system
US10592805B2 (en) 2016-08-26 2020-03-17 Ford Global Technologies, Llc Physics modeling for radar and ultrasonic sensors
GB201616097D0 (en) 2016-09-21 2016-11-02 Univ Oxford Innovation Ltd Segmentation of path proposals
US10599150B2 (en) 2016-09-29 2020-03-24 The Charles Stark Kraper Laboratory, Inc. Autonomous vehicle: object-level fusion
US20180113210A1 (en) 2016-10-21 2018-04-26 Waymo Llc Mountable Radar System
US20180136332A1 (en) 2016-11-15 2018-05-17 Wheego Electric Cars, Inc. Method and system to annotate objects and determine distances to objects in an image
CN110832474B (zh) 2016-12-30 2023-09-15 辉达公司 更新高清地图的方法
WO2018127789A1 (en) * 2017-01-03 2018-07-12 Innoviz Technologies Ltd. Lidar systems and methods for detection and classification of objects
US10145945B2 (en) 2017-01-11 2018-12-04 Toyota Research Institute, Inc. Systems and methods for automatically calibrating a LIDAR using information from a secondary vehicle
US10409279B2 (en) 2017-01-31 2019-09-10 GM Global Technology Operations LLC Efficient situational awareness by event generation and episodic memory recall for autonomous driving systems
US10127814B2 (en) 2017-02-03 2018-11-13 Ford Global Technologies, Llc Advanced V2X event dissemination
JP6542824B2 (ja) 2017-03-13 2019-07-10 ファナック株式会社 入力画像から検出した対象物の像の尤度を計算する画像処理装置および画像処理方法
US10252688B2 (en) * 2017-03-22 2019-04-09 Ford Global Technologies, Llc Monitoring a vehicle cabin
US10037613B1 (en) 2017-03-30 2018-07-31 Uber Technologies, Inc. Systems and methods to track vehicles proximate perceived by an autonomous vehicle
JP2018176792A (ja) * 2017-04-03 2018-11-15 本田技研工業株式会社 車両シート制御装置、車両シート制御方法、及びプログラム
CN110800273B (zh) * 2017-04-24 2024-02-13 卡内基梅隆大学 虚拟传感器系统
US10262234B2 (en) 2017-04-24 2019-04-16 Baidu Usa Llc Automatically collecting training data for object recognition with 3D lidar and localization
US10007269B1 (en) 2017-06-23 2018-06-26 Uber Technologies, Inc. Collision-avoidance system for autonomous-capable vehicle
US11209825B2 (en) 2017-07-01 2021-12-28 International Business Machines Corporation Moving traffic obstacle detection and avoidance
US10416681B2 (en) 2017-07-12 2019-09-17 Mitsubishi Electric Research Laboratories, Inc. Barcode: global binary patterns for fast visual inference
US10705105B2 (en) * 2017-07-21 2020-07-07 Applied Concepts, Inc. Absolute speed detector
US10558224B1 (en) 2017-08-10 2020-02-11 Zoox, Inc. Shared vehicle obstacle data
US10216189B1 (en) 2017-08-23 2019-02-26 Uber Technologies, Inc. Systems and methods for prioritizing object prediction for autonomous vehicles
US10503170B2 (en) 2017-08-28 2019-12-10 GM Global Technology Operations LLC Method and apparatus for monitoring an autonomous vehicle
WO2019079750A1 (en) 2017-10-19 2019-04-25 Gerard Dirk Smits METHODS AND SYSTEMS FOR NAVIGATING A VEHICLE EQUIPPED WITH A NEW MILITARY MARKER SYSTEM
EP3477616A1 (en) * 2017-10-27 2019-05-01 Sigra Technologies GmbH Method for controlling a vehicle using a machine learning system
CN107627564A (zh) * 2017-11-02 2018-01-26 东莞市欧若拉精密塑料制品有限公司 模具及其抽芯强脱顶出机构
WO2019094843A1 (en) 2017-11-10 2019-05-16 Nvidia Corporation Systems and methods for safe and reliable autonomous vehicles
US11017550B2 (en) 2017-11-15 2021-05-25 Uatc, Llc End-to-end tracking of objects
US11232350B2 (en) 2017-11-29 2022-01-25 Honda Motor Co., Ltd. System and method for providing road user classification training using a vehicle communications network
US10768304B2 (en) 2017-12-13 2020-09-08 Luminar Technologies, Inc. Processing point clouds of vehicle sensors having variable scan line distributions using interpolation functions
US10599929B2 (en) 2018-01-04 2020-03-24 Motionloft, Inc. Event monitoring with object detection systems
US11022971B2 (en) 2018-01-16 2021-06-01 Nio Usa, Inc. Event data recordation to identify and resolve anomalies associated with control of driverless vehicles
JP6819620B2 (ja) * 2018-01-23 2021-01-27 トヨタ自動車株式会社 車両用シート及び車両
US11231500B1 (en) * 2018-01-30 2022-01-25 Aeva, Inc. Simultaneous measurement of range and velocity using a nondegenerate LiDAR system
US11493920B2 (en) 2018-02-02 2022-11-08 Uatc, Llc Autonomous vehicle integrated user alert and environmental labeling
US11386055B2 (en) 2018-02-23 2022-07-12 Toyota Research Institute, Inc. Adaptive storage of data captured by one or more vehicles
US11073618B2 (en) 2018-04-03 2021-07-27 GM Global Technology Operations LLC Optical amplifier in return path of coherent lidar system
US11550061B2 (en) 2018-04-11 2023-01-10 Aurora Operations, Inc. Control of autonomous vehicle based on environmental object classification determined using phase coherent LIDAR data
US10676085B2 (en) 2018-04-11 2020-06-09 Aurora Innovation, Inc. Training machine learning model based on training instances with: training instance input based on autonomous vehicle sensor data, and training instance output based on additional vehicle sensor data
US11164016B2 (en) 2018-05-17 2021-11-02 Uatc, Llc Object detection and property determination for autonomous vehicles
US10755575B2 (en) 2018-08-30 2020-08-25 Cisco Technology, Inc. Raw sensor data sharing for enhanced fleet-wide environmental awareness and safety
US11182986B2 (en) 2018-10-10 2021-11-23 Micron Technology, Inc. Real-time selection of data to collect in autonomous vehicle
US11163998B2 (en) 2018-10-22 2021-11-02 Woven Planet North America, Inc. Systems and methods for automated image labeling for images captured from vehicles
US10928826B2 (en) 2018-10-26 2021-02-23 Lyft, Inc. Sensor fusion by operations-control vehicle for commanding and controlling autonomous vehicles
US11829143B2 (en) 2018-11-02 2023-11-28 Aurora Operations, Inc. Labeling autonomous vehicle data
US11403492B2 (en) 2018-11-02 2022-08-02 Aurora Operations, Inc. Generating labeled training instances for autonomous vehicles
US11209821B2 (en) 2018-11-02 2021-12-28 Aurora Operations, Inc. Labeling autonomous vehicle data
US11256263B2 (en) 2018-11-02 2022-02-22 Aurora Operations, Inc. Generating targeted training instances for autonomous vehicles
US11086319B2 (en) 2018-11-02 2021-08-10 Aurora Operations, Inc. Generating testing instances for autonomous vehicles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017502315A (ja) 2013-12-19 2017-01-19 ディーエスシージー ソルーションズ，インコーポレイテッド 単一レーザーｌｉｄａｒシステム
JP2017516110A (ja) 2014-05-21 2017-06-15 ディーエスシージー ソルーションズ，インコーポレイテッド 物体をリアルタイムで追跡するためのデバイス、システム、および方法
JP2016200443A (ja) 2015-04-08 2016-12-01 トヨタ自動車株式会社 障害物検出装置
WO2017013750A1 (ja) 2015-07-21 2017-01-26 日産自動車株式会社 運転計画装置、走行支援装置、運転計画方法
WO2017158768A1 (ja) 2016-03-16 2017-09-21 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11964663B2 (en) 2018-04-11 2024-04-23 Aurora Operations, Inc. Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle
US12304494B2 (en) 2018-04-11 2025-05-20 Aurora Operations, Inc. Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle

Also Published As

Publication number Publication date
US20190318206A1 (en) 2019-10-17
US20210146932A1 (en) 2021-05-20
US10676085B2 (en) 2020-06-09
KR102497330B1 (ko) 2023-02-07
WO2019199474A1 (en) 2019-10-17
US20200391736A1 (en) 2020-12-17
CN118323188A (zh) 2024-07-12
KR102464758B1 (ko) 2022-11-08
US20240217520A1 (en) 2024-07-04
US11654917B2 (en) 2023-05-23
US11964663B2 (en) 2024-04-23
US12304494B2 (en) 2025-05-20
US20230271615A1 (en) 2023-08-31
WO2019199475A2 (en) 2019-10-17
JP2021521050A (ja) 2021-08-26
US10906536B2 (en) 2021-02-02
KR20220151039A (ko) 2022-11-11
KR20200138817A (ko) 2020-12-10
CN112313133B (zh) 2024-05-17
CN112313133A (zh) 2021-02-02
WO2019199475A3 (en) 2019-11-28
EP3774477B1 (en) 2022-12-07
CN118323188B (zh) 2025-02-25
US20190315351A1 (en) 2019-10-17
EP3774477A1 (en) 2021-02-17
US11358601B2 (en) 2022-06-14

Similar Documents

Publication Publication Date Title
JP7358384B2 (ja) 方法及び自律走行車両
KR102481638B1 (ko) 위상 코히어런트 라이다 데이터를 사용하여 결정된 환경 객체 분류에 기반한 자율주행 차량 제어
US20250093873A1 (en) Velocity estimation and object tracking for autonomous vehicle applications
US11693110B2 (en) Systems and methods for radar false track mitigation with camera
WO2022005778A1 (en) Lidar system
Kelly A partial analysis of the high speed autonomous navigation problem
US20260126552A1 (en) Systems and methods for clock-skew search to improve depth accuracy in geiger mode lidar

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220308

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220308

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20220308

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220621

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220803

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20221101

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20230201

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230307

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230502

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230703

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230731

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20230829

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20230927

R150 Certificate of patent or registration of utility model

Ref document number: 7358384

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: R3D02