KR102464758B1 - 추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어 - Google Patents

추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어 Download PDF

Info

Publication number
KR102464758B1
KR102464758B1 KR1020207031853A KR20207031853A KR102464758B1 KR 102464758 B1 KR102464758 B1 KR 102464758B1 KR 1020207031853 A KR1020207031853 A KR 1020207031853A KR 20207031853 A KR20207031853 A KR 20207031853A KR 102464758 B1 KR102464758 B1 KR 102464758B1
Authority
KR
South Korea
Prior art keywords
vehicle
yaw
determining
additional
lidar data
Prior art date
Application number
KR1020207031853A
Other languages
English (en)
Korean (ko)
Other versions
KR20200138817A (ko
Inventor
스미스 워렌
이드 에단
제이. 앤더슨 스털링
앤드류 백넬 제임스
씨. 나베 바르톨로메우스
폴 엄슨 크리스토퍼
Original Assignee
오로라 오퍼레이션스, 인크.
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 오로라 오퍼레이션스, 인크. filed Critical 오로라 오퍼레이션스, 인크.
Priority to KR1020227038243A priority Critical patent/KR102497330B1/ko
Publication of KR20200138817A publication Critical patent/KR20200138817A/ko
Application granted granted Critical
Publication of KR102464758B1 publication Critical patent/KR102464758B1/ko

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
    • 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
    • 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
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • 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; CALCULATING OR 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; CALCULATING OR 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; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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
    • 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
    • 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)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Data Mining & Analysis (AREA)
  • Mathematical Physics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Software Systems (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Computational Linguistics (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Evolutionary Biology (AREA)
  • Business, Economics & Management (AREA)
  • Game Theory and Decision Science (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • User Interface Of Digital Computer (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
KR1020207031853A 2018-04-11 2019-03-28 추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어 KR102464758B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020227038243A KR102497330B1 (ko) 2018-04-11 2019-03-28 추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어

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

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020227038243A Division KR102497330B1 (ko) 2018-04-11 2019-03-28 추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어

Publications (2)

Publication Number Publication Date
KR20200138817A KR20200138817A (ko) 2020-12-10
KR102464758B1 true KR102464758B1 (ko) 2022-11-08

Family

ID=68160190

Family Applications (2)

Application Number Title Priority Date Filing Date
KR1020207031853A KR102464758B1 (ko) 2018-04-11 2019-03-28 추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어
KR1020227038243A KR102497330B1 (ko) 2018-04-11 2019-03-28 추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어

Family Applications After (1)

Application Number Title Priority Date Filing Date
KR1020227038243A KR102497330B1 (ko) 2018-04-11 2019-03-28 추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어

Country Status (6)

Country Link
US (6) US10906536B2 (enSelective)
EP (1) EP3774477B1 (enSelective)
JP (1) JP7358384B2 (enSelective)
KR (2) KR102464758B1 (enSelective)
CN (2) CN118323188A (enSelective)
WO (2) WO2019199474A1 (enSelective)

Families Citing this family (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102380216B1 (ko) 2016-11-29 2022-03-28 블랙모어 센서스 앤드 애널리틱스, 엘엘씨 포인트 클라우드 데이터 세트에서 객체의 분류를 위한 방법 및 시스템
CN113985427A (zh) 2016-11-30 2022-01-28 布莱克莫尔传感器和分析有限责任公司 对光学啁啾距离检测进行多普勒检测和校正的方法和系统
WO2018102188A1 (en) 2016-11-30 2018-06-07 Blackmore Sensors and Analytics Inc. Method and system for automatic real-time adaptive scanning with optical ranging systems
JP6811862B2 (ja) 2016-11-30 2021-01-13 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 光学測距システムによる適応走査の方法およびシステム
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
US10906536B2 (en) 2018-04-11 2021-02-02 Aurora Innovation, Inc. Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle
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
CN115079195A (zh) * 2018-04-23 2022-09-20 布莱克莫尔传感器和分析有限责任公司 用相干距离多普勒光学传感器控制自主车辆的方法和系统
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
US11829143B2 (en) 2018-11-02 2023-11-28 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
US11209821B2 (en) 2018-11-02 2021-12-28 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
WO2020102253A1 (en) * 2018-11-13 2020-05-22 Blackmore Sensors & Analytics, Llc Method and system for laser phase tracking for internal reflection subtraction in phase-encoded lidar
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
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
CN109782015A (zh) * 2019-03-21 2019-05-21 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
KR20210050052A (ko) * 2019-10-25 2021-05-07 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
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
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
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
US12007791B2 (en) 2020-05-11 2024-06-11 Soter Technology Inc Multi-drone/sensor platform with information lateralization and federated path planning
EP3935413A4 (en) * 2020-05-15 2022-03-30 Baidu.com Times Technology (Beijing) Co., Ltd. PARTLY POINT CLOUD BASED METHOD OF ESTIMATING THE SPEED OF A PEDESTRIAN
KR102283237B1 (ko) * 2020-05-29 2021-07-29 서울대학교산학협력단 데이터 주도 기계학습 기반 차량 조향 특성 모델 실시간 규명 장치 및 방법
JP2023528078A (ja) 2020-06-05 2023-07-03 ガティック エーアイ インコーポレイテッド 自律エージェントの不確実性推定に基づく決定論的軌道選択のための方法およびシステム
EP4162339A4 (en) 2020-06-05 2024-06-26 Gatik AI Inc. METHOD AND SYSTEM FOR DATA-DRIVEN AND MODULAR DECISION-MAKING AND TRAJECTORY GENERATION OF AN AUTONOMOUS AGENT
JP2023528077A (ja) 2020-06-05 2023-07-03 ガティック エーアイ インコーポレイテッド 自律エージェントのコンテキスト認識型意思決定を行うための方法およびシステム
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
US20220128995A1 (en) * 2020-10-22 2022-04-28 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
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
US20220141804A1 (en) * 2020-11-04 2022-05-05 Huawei Technologies Co., Ltd. Waveform adaptation for integrated communications and sensing
US11841420B2 (en) 2020-11-16 2023-12-12 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
EP4320019A1 (en) * 2021-04-07 2024-02-14 Ridecell, Inc. A systematic approach towards system identification based yaw rate estimation with low-cost imu+gps units
US11734909B2 (en) * 2021-05-04 2023-08-22 Ford Global Technologies, Llc Machine learning
US11760368B2 (en) * 2021-10-19 2023-09-19 Cyngn, Inc. System and method of same-loop adaptive simulation for autonomous driving
KR102647477B1 (ko) * 2022-06-21 2024-03-14 (주)뉴빌리티 자율주행을 위한 횡방향 제어 장치 및 방법
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

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140368493A1 (en) * 2013-06-14 2014-12-18 Microsoft Corporation Object removal using lidar-based classification

Family Cites Families (105)

* 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
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
WO2004008648A2 (en) * 2002-07-15 2004-01-22 Automotive Systems Laboratory, Inc. Road curvature estimation and automotive target state estimation system
DE10353348A1 (de) 2003-11-14 2005-06-02 Ibeo Automobile Sensor Gmbh Verfahren zur Verfolgung von Objekten
GB2445507B (en) 2005-10-21 2011-08-24 Deere & Co Versatile robotic control module
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
US20140036849A1 (en) 2011-04-14 2014-02-06 Nokia Siemens Network 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
DK2983955T3 (da) 2013-04-11 2019-07-15 Waymo Llc Fremgangsmåder og systemer til detektering af vejrforhold ved anvendelse af sensorer monteret i et køretøj
US8983705B2 (en) * 2013-04-30 2015-03-17 Google Inc. Methods and systems for detecting weather conditions including fog using vehicle onboard sensors
US9254846B2 (en) * 2013-05-03 2016-02-09 Google Inc. Predictive reasoning for controlling speed of a vehicle
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
US9851433B2 (en) * 2013-12-19 2017-12-26 DSCG Solutions, Inc. Single laser LIDAR system
EP3114574A4 (en) 2014-03-03 2018-03-07 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
US10012734B2 (en) * 2014-05-21 2018-07-03 DSCG Solutions, Inc. Devices, systems, and methods for real time tracking of an object
US20160107552A1 (en) * 2014-09-02 2016-04-21 Olivia Wakeman Multi-function customizable cover
WO2016062327A1 (en) * 2014-10-20 2016-04-28 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
JP6626957B2 (ja) 2015-04-07 2019-12-25 ストローブ, インク.Strobe, Inc. 小型ｌｉｄａｒシステム
JP6330712B2 (ja) * 2015-04-08 2018-05-30 トヨタ自動車株式会社 障害物検出装置
CN107851375B (zh) * 2015-07-21 2021-01-05 日产自动车株式会社 驾驶计划装置、行驶辅助装置、驾驶计划方法
US9481277B1 (en) * 2015-09-23 2016-11-01 Ford Global Technologies, Llc Adjustable headrest
US9632502B1 (en) 2015-11-04 2017-04-25 Zoox, Inc. Machine-learning systems and techniques to optimize teleoperation and/or planner decisions
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
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
US10088553B2 (en) * 2016-03-14 2018-10-02 GM Global Technology Operations LLC Method of automatic sensor pose estimation
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
EP3430352A4 (en) 2016-03-15 2019-12-11 Solfice Research, Inc. SYSTEMS AND METHODS FOR PROVIDING VEHICLE COGNITION
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
EP3432285A4 (en) * 2016-03-16 2019-03-27 Panasonic Intellectual Property Management Co., Ltd. FAHRANALYSE DEVICE AND FAIR ANALYSIS SYSTEM
US11318950B2 (en) * 2016-03-29 2022-05-03 Pioneer Corporation Calculation apparatus, control method, program and storage medium
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
US20180188736A1 (en) 2016-08-16 2018-07-05 Faraday&Future Inc. System and method for vehicle localization assistance using sensor data
US20180053102A1 (en) 2016-08-16 2018-02-22 Toyota Jidosha Kabushiki Kaisha Individualized Adaptation of Driver Action Prediction Models
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
EP3563265B1 (en) 2016-12-30 2021-06-02 DeepMap Inc. High definition map updates
CN117310741A (zh) 2017-01-03 2023-12-29 应诺维思科技有限公司 用于检测和分类物体的激光雷达系统和方法
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
WO2018200541A1 (en) * 2017-04-24 2018-11-01 Carnegie Mellon University Virtual sensor system
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
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
US10591605B2 (en) 2017-10-19 2020-03-17 Gerard Dirk Smits Methods and systems for navigating a vehicle including a novel fiducial 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
US11644834B2 (en) 2017-11-10 2023-05-09 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
US10473788B2 (en) 2017-12-13 2019-11-12 Luminar Technologies, Inc. Adjusting area of focus of vehicle sensors by controlling spatial distributions of scan lines
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
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
US10906536B2 (en) * 2018-04-11 2021-02-02 Aurora Innovation, Inc. Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle
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
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
US11209821B2 (en) * 2018-11-02 2021-12-28 Aurora Operations, Inc. Labeling autonomous vehicle data
US11086319B2 (en) 2018-11-02 2021-08-10 Aurora Operations, Inc. Generating testing instances for autonomous vehicles

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140368493A1 (en) * 2013-06-14 2014-12-18 Microsoft Corporation Object removal using lidar-based classification

Also Published As

Publication number Publication date
KR20200138817A (ko) 2020-12-10
US20230271615A1 (en) 2023-08-31
US10906536B2 (en) 2021-02-02
EP3774477B1 (en) 2022-12-07
US11654917B2 (en) 2023-05-23
WO2019199475A2 (en) 2019-10-17
US20190318206A1 (en) 2019-10-17
JP7358384B2 (ja) 2023-10-10
US11358601B2 (en) 2022-06-14
CN112313133A (zh) 2021-02-02
KR102497330B1 (ko) 2023-02-07
EP3774477A1 (en) 2021-02-17
US20240217520A1 (en) 2024-07-04
US20210146932A1 (en) 2021-05-20
US20200391736A1 (en) 2020-12-17
CN112313133B (zh) 2024-05-17
US20190315351A1 (en) 2019-10-17
WO2019199475A3 (en) 2019-11-28
US10676085B2 (en) 2020-06-09
US11964663B2 (en) 2024-04-23
CN118323188A (zh) 2024-07-12
KR20220151039A (ko) 2022-11-11
JP2021521050A (ja) 2021-08-26
WO2019199474A1 (en) 2019-10-17

Similar Documents

Publication Publication Date Title
KR102464758B1 (ko) 추가 차량의 결정된 요 파라미터(들)에 근거한 자율주행 차량 제어
KR102481638B1 (ko) 위상 코히어런트 라이다 데이터를 사용하여 결정된 환경 객체 분류에 기반한 자율주행 차량 제어
JP2020040659A (ja) 自律運転乗物用の制御及びシステム
JPWO2020129208A1 (ja) 走行計画生成装置および自動運転システム
US20190064825A1 (en) Vehicle Interface for Autonomous Vehicle
US20220128995A1 (en) Velocity estimation and object tracking for autonomous vehicle applications
Kelly A partial analysis of the high speed autonomous navigation problem
US11693110B2 (en) Systems and methods for radar false track mitigation with camera
WO2022051263A1 (en) Localization methods and architectures for an autonomous vehicle
WO2022005778A1 (en) Lidar system
US11531113B1 (en) System and methods for object detection and tracking using a lidar observation model
US11797836B1 (en) Sensor-integrated neural network
US11260881B1 (en) LIDAR system
US20240118410A1 (en) Curvelet-based low level fusion of camera and radar sensor information
Kelly AD-A282

Legal Events

Date Code Title Description
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
A107 Divisional application of patent
GRNT Written decision to grant