Patents Assigned to Motional AD LLC
  • Patent number: 11608084
    Abstract: Enclosed are embodiments for navigation with drivable area detection. In an embodiment, a method comprises: receiving a point cloud from a depth sensor, receiving image data from a camera; predicting at least one label indicating a drivable area by applying machine learning to the image data; labeling the point cloud using the at least one label; obtaining odometry information; generating a drivable area by registering the labeled point cloud and odometry information to a reference coordinate system; and controlling the vehicle to drive within the drivable area.
    Type: Grant
    Filed: August 27, 2021
    Date of Patent: March 21, 2023
    Assignee: Motional AD LLC
    Inventors: Zhuang Jie Chong, Ning Wu
  • Patent number: 11604474
    Abstract: A scenario aware perception system (10) suitable for use on an automated vehicle includes a traffic-scenario detector (14), an object-detection device (24), and a controller (32). The traffic-scenario detector (14) is used to detect a present-scenario (16) experienced by a host-vehicle (12). The object-detection device (24) is used to detect an object (26) proximate to the host-vehicle (12). The controller (32) is in communication with the traffic-scenario detector (14) and the object-detection device (24). The controller (32) configured to determine a preferred-algorithm (36) used to identify the object (26). The preferred-algorithm (36) is determined based on the present-scenario (16).
    Type: Grant
    Filed: December 29, 2020
    Date of Patent: March 14, 2023
    Assignee: Motional AD LLC
    Inventors: Wenda Xu, Jarrod M. Snider, Junqing Wei
  • Patent number: 11604071
    Abstract: Using a planning circuit of a vehicle, a map is accessed that includes information identifying at least one lane on which vehicles can travel. Using the planning circuit and from the map, a graph representing a driving environment of the vehicle is generated. The graph includes multiple trajectories. At least one trajectory includes a lane change. Each trajectory is a path for the vehicle to move from a first spatiotemporal location to a second spatiotemporal location. The trajectory includes at least one lane alone which the vehicle can move. Using the planning circuit, a trajectory of the multiple trajectories for the vehicle to travel is selected based on an initial vehicle trajectory of the vehicle. The selected trajectory includes a stem. The stem is a portion of the selected trajectory to which the vehicle is configured to adhere. Using the control circuit, the vehicle is moved along the selected trajectory.
    Type: Grant
    Filed: November 13, 2019
    Date of Patent: March 14, 2023
    Assignee: MOTIONAL AD LLC
    Inventor: Shih-Yuan Liu
  • Patent number: 11600154
    Abstract: A system for an automated-taxi includes a display and a controller. The display is viewable by one or more of a plurality of clients of an automated-taxi. The controller-circuit is in communication with the display. The controller is configured to determine a seating-arrangement of the plurality of clients transported by the automated-taxi. The seating-arrangement is determined in accordance with destinations of the plurality of clients. The controller is also configured to operate the display to show the seating-arrangement to one or more of the plurality of clients. A method of operating an automated-taxi includes receiving destinations of a plurality of clients to transported by an automated-taxi; determining a seating-arrangement of the plurality of clients in accordance with the destinations; and operating a display viewable by one or more of a plurality of clients of an automated-taxi to show the seating-arrangement to one or more of the plurality of clients.
    Type: Grant
    Filed: April 26, 2021
    Date of Patent: March 7, 2023
    Assignee: Motional AD LLC
    Inventors: Nandita Mangal, Michael H. Laur
  • Patent number: 11598836
    Abstract: Embodiments are disclosed for localization of vehicles using beacons. In an embodiment, a method comprises: determining, using at least one processor of a vehicle, that the vehicle has lost external signals (or is receiving degraded external signals) that are used for estimating a position of the vehicle; determining, using the at least one processor, a set of mobile beacons that are available to assist in estimating the position of the vehicle; receiving, using a communication device of the vehicle, broadcast signals from the set of mobile beacons, the broadcast signals including localization data for the set of mobile beacons; selecting, using the at least one processor, a subset of localization data from the set of mobile beacons for assisting in the position estimation of the vehicle; and estimating, using the at least one processor, the position of the vehicle using the subset of localization data.
    Type: Grant
    Filed: November 30, 2020
    Date of Patent: March 7, 2023
    Assignee: Motional AD LLC
    Inventor: Yih-Jye Hsu
  • Patent number: 11577754
    Abstract: Techniques are provided for autonomous vehicle operation using linear temporal logic. The techniques include using one or more processors of a vehicle to store a linear temporal logic expression defining an operating constraint for operating the vehicle. The vehicle is located at a first spatiotemporal location. The one or more processors are used to receive a second spatiotemporal location for the vehicle. The one or more processors are used to identify a motion segment for operating the vehicle from the first spatiotemporal location to the second spatiotemporal location. The one or more processors are used to determine a value of the linear temporal logic expression based on the motion segment. The one or more processors are used to generate an operational metric for operating the vehicle in accordance with the motion segment based on the determined value of the linear temporal logic expression.
    Type: Grant
    Filed: June 4, 2020
    Date of Patent: February 14, 2023
    Assignee: MOTIONAL AD LLC
    Inventor: Tichakorn Wongpiromsarn
  • Patent number: 11573567
    Abstract: A system includes one or more sensor systems, a controller-circuit, a first module, and a second module. The sensor systems are configured to determine position relationship data between a roadway and a host vehicle. The sensor system includes at least one of a computer-vision system, a radar system, and a LIDAR system. The controller-circuit is configured to receive and transform the position relationship data to effect steering control of the host vehicle. The first module is controlled by the controller-circuit to effect the steering control when the steering control transitions from a manual-mode to an automated mode. The second module is controlled by the controller-circuit to effect steering control of the host vehicle after control by the first module and upon meeting a prescribed condition.
    Type: Grant
    Filed: October 3, 2018
    Date of Patent: February 7, 2023
    Assignee: Motional AD LLC
    Inventors: Zachary T. Batts, Ludong Sun
  • Patent number: 11567510
    Abstract: An ambient sound environment is captured by a microphone array of an autonomous vehicle traveling in the ambient sound environment. A perception module of the autonomous vehicle classifies sounds and localizes sound sources in the ambient sound environment. Classification is performed using spectrum analysis and/or machine learning. In an embodiment, sound sources within a field of view (FOV) of an image sensor of the autonomous vehicle are localized in a visual scene generated by the perception module. In an embodiment, one or more sound sources outside the FOV of the image sensors are localized in a static digital map. Localization is performed using parametric or non-parametric techniques and/or machine learning. The output of the perception module is input into a planning module of the autonomous vehicle to plan a route or trajectory for the autonomous vehicle in the ambient sound environment.
    Type: Grant
    Filed: January 24, 2020
    Date of Patent: January 31, 2023
    Assignee: Motional AD LLC
    Inventors: Metarsit Leenayongwut, Weng Fei Low
  • Patent number: 11568688
    Abstract: A system is described that can include a first database, a simulator, and a second database. The first database can store data indicating operation of at least one module within a computing device of an autonomous vehicle. The simulator can receive the stored data from the first database. The simulator can generate, based on the received data, a simulation of the operation of the at least one module. The simulator can identify at least one portion of the simulation that indicates a deviation between the collected data and the simulated operation of the autonomous vehicle. The simulator can analyze the at least one portion of the simulation to generate metrics for the at least one portion of the simulation. The metrics can be used to avoid another deviation between the collected data and the simulated operation of the autonomous vehicle. The second database can store the metrics.
    Type: Grant
    Filed: August 25, 2020
    Date of Patent: January 31, 2023
    Assignee: MOTIONAL AD LLC
    Inventors: Silvio Maeta, Ankita Nugyal
  • Patent number: 11562556
    Abstract: Provided are methods for prediction error scenario mining for machine learning methods, which can include determining a prediction error indicative of a difference between a planned decision of an autonomous vehicle and an ideal decision of the autonomous vehicle. The prediction error is associated with an error-prone scenario for which a machine learning model of an autonomous vehicle is to make planned movements. The method includes searching a scenario database for the error-prone scenario based on the prediction error. The scenario database includes a plurality of datasets representative of data received from an autonomous vehicle sensor system in which the plurality of datasets is marked with at least one attribute of the set of attributes. The method further includes obtaining the error-prone scenario from the scenario database for inputting into the machine learning model for training the machine learning model. Systems and computer program products are also provided.
    Type: Grant
    Filed: February 16, 2022
    Date of Patent: January 24, 2023
    Assignee: Motional AD LLC
    Inventors: Juraj Kabzan, Sammy Omari, Julia Gomes
  • Patent number: 11555910
    Abstract: A technique for tracking objects includes: determining a set of detected measurements based on a received return signal; determining a group that includes a set of group measurements and a set of group tracks; creating a merged factor, including a merged set of track state hypotheses associated with a merged set of existing tracks including a first set of existing tracks and a second set of existing tracks, by calculating the cross-product of a first set of previous track state hypotheses and a second set of previous track state hypotheses; determining a first new factor and a second new factor; calculating a first set of new track state hypotheses for the first new factor based on a first subset of the group measurements; and calculating a second set of new track state hypotheses for the second new factor based on a second subset of the group measurements.
    Type: Grant
    Filed: July 29, 2020
    Date of Patent: January 17, 2023
    Assignee: Motional AD LLC
    Inventor: Lingji Chen
  • Patent number: 11550851
    Abstract: Provided are methods for vehicle scenario mining for machine learning methods, which can include determining a set of attributes associated with an untested scenario for which a machine learning model of an autonomous vehicle is to make planned movements. The method includes searching a scenario database for the untested scenario based on the set of attributes. The scenario database includes a plurality of datasets representative of data received from an autonomous vehicle sensor system in which the plurality of datasets is marked with at least one attribute of the set of attributes. The method further includes obtaining the untested scenario from the scenario database for inputting into the machine learning model for training the machine learning model. The machine learning model is configured to make the planned movements for the autonomous vehicle. Systems and computer program products are also provided.
    Type: Grant
    Filed: February 10, 2022
    Date of Patent: January 10, 2023
    Assignee: Motional AD LLC
    Inventors: Juraj Kabzan, Julia Gomes
  • Patent number: 11548526
    Abstract: Among other things, we describe techniques for implementing a vehicle response to sensor failure. In general, one innovative aspect of the subject matter described in this specification can be embodied in methods that include receiving information from a plurality of sensors coupled to a vehicle, determining that a level of confidence of the received information from at least one sensor of a first subset of sensors of the plurality of sensors is less than a first threshold, comparing a number of sensors in the first subset of sensors to a second threshold, and adjusting the driving capability of the vehicle to rely on information received from a second subset of sensors of the plurality of sensors, wherein the second subset of sensors excludes the at least one sensor of the first subset of sensors.
    Type: Grant
    Filed: April 29, 2020
    Date of Patent: January 10, 2023
    Assignee: Motional AD LLC
    Inventors: Zachary Thomas Batts, Ludong Sun, Ky Woodard, Qian Wang, Yiming Zhao, Stephanie Lee, Lin Zhao
  • Patent number: 11548531
    Abstract: Techniques are provided for autonomous vehicle fleet management for reduced traffic congestion. A request is received for a vehicular ride. The request includes an initial spatiotemporal location and a destination spatiotemporal location. A processor is used to generate a representation of lane segments. Each lane segment is weighted in accordance with a number of other vehicles on the lane segment. A vehicle located within a threshold distance to the initial spatiotemporal location is identified such that the identified vehicle has at least one vacant seat. The processor is used to determine a route for operating the identified vehicle from the initial spatiotemporal location to the destination spatiotemporal location. The route includes one or more lane segments of the lane segments. An aggregate of weights of the one or more lane segments is below a threshold value. The received request and the determined route are transmitted to the identified vehicle.
    Type: Grant
    Filed: May 28, 2020
    Date of Patent: January 10, 2023
    Assignee: Motional AD LLC
    Inventors: Katarzyna Anna Marczuk, Marc Lars Ljungdahl Albert
  • Patent number: 11541907
    Abstract: Techniques are provided for autonomous vehicle operation using linear temporal logic. The techniques include using one or more processors of a vehicle to store a linear temporal logic expression defining an operating constraint for operating the vehicle. The vehicle is located at a first spatiotemporal location. The one or more processors are used to receive a second spatiotemporal location for the vehicle. The one or more processors are used to identify a motion segment for operating the vehicle from the first spatiotemporal location to the second spatiotemporal location. The one or more processors are used to determine a value of the linear temporal logic expression based on the motion segment. The one or more processors are used to generate an operational metric for operating the vehicle in accordance with the motion segment based on the determined value of the linear temporal logic expression.
    Type: Grant
    Filed: June 4, 2020
    Date of Patent: January 3, 2023
    Assignee: MOTIONAL AD LLC
    Inventor: Tichakorn Wongpiromsarn
  • Patent number: 11541806
    Abstract: A system includes a tracking system, a controller-circuit, and a device. The tracking system is configured to detect and track an object, and includes one or more of a computer vision system, a radar system, and a LIDAR system. The controller-circuit is disposed in a host vehicle, and is configured to receive detection signals from the tracking system, process the detection signals, determine, whether an object is detected based on the processed detecting signals, and in accordance with a determination that an object is detected, output command signals. The device is adapted to be mounted to the host vehicle, and is configured to receive the command signals and thereby provide a dynamic visual indication adapted to change in accordance with orientation changes between the host vehicle and the object. The dynamic visual indication is viewable from outside of the host vehicle.
    Type: Grant
    Filed: March 21, 2019
    Date of Patent: January 3, 2023
    Assignee: Motional AD LLC
    Inventor: Yifan Yang
  • Patent number: 11535112
    Abstract: Among other things, techniques are described for managing power of electronic devices of a vehicle. For example, a vehicle includes a power source, a power distribution unit configured to control power to at least one electronic device from the power source, a first processor configured for communicating power commands to the power distribution unit, wherein the power distribution unit includes a second processor configured to execute the computer executable instructions stored in computer-readable medium for carrying out operations including adjusting a power distribution from the vehicle power source to the electronic device in accordance with policy data.
    Type: Grant
    Filed: September 10, 2020
    Date of Patent: December 27, 2022
    Assignee: Motional AD LLC
    Inventors: Michael Maass, Karl Robinson, Marwan Abi-Antoun
  • Patent number: 11539621
    Abstract: Embodiments herein relate to a controller area network (CAN) Ethernet gateway (CEG) is communicatively coupled with a first CAN bus and a second CAN bus, and configured to generate a user datagram protocol (UDP) packet. The UDP packet includes a packet header, a first data portion that includes a CAN header and CAN data related to the first CAN bus, and a second data portion that includes a CAN header and CAN data related to the second CAN bus. Other embodiments are described and/or claimed.
    Type: Grant
    Filed: February 3, 2021
    Date of Patent: December 27, 2022
    Assignee: Motional AD LLC
    Inventors: Vasudeva Pai Melgangolli, William Tan, Lixun Lin
  • Patent number: 11535248
    Abstract: Among other things, techniques are described for predicting how an agent (e.g., a vehicle, bicycle, pedestrian, etc.) will move in an environment based on prior movement, the road network, the surrounding objects and/or other relevant environmental factors. One trajectory prediction technique involves generating a probability map for an agent's movement. Another trajectory prediction technique involves generating a trajectory lattice, for an agent's movement. In addition, a different trajectory prediction technique involves multi-modal regression where a classifier (e.g., a neural network) is trained to classify the probability of a number of (learned) modes such that each model produces a trajectory based on the current input.
    Type: Grant
    Filed: June 2, 2021
    Date of Patent: December 27, 2022
    Assignee: Motional AD LLC
    Inventors: Tung Minh Phan, Eric Wolff, Emilio Frazzoli, Elena Corina Grigore, Freddy Boulton
  • Patent number: 11529955
    Abstract: Among other things, we describe techniques for traffic light estimation using range sensors. A planning circuit of a vehicle traveling on a first drivable region that forms an intersection with a second drivable region receives information sensed by a range sensor of the vehicle. The information represents a movement state of an object through the intersection. A traffic signal at the intersection controls movement of objects through the intersection. The planning circuit determines a state of the traffic signal at the intersection based, in part, on the received information. A control circuit controls an operation of the vehicle based, in part, on the state of the traffic signal at the intersection.
    Type: Grant
    Filed: March 29, 2021
    Date of Patent: December 20, 2022
    Assignee: Motional AD LLC
    Inventors: Scott D. Pendleton, Aravindkumar Vijayalingam