Patents Assigned to UATC, LLC
  • Patent number: 11048251
    Abstract: A control system of a self-driving tractor can access sensor data to determine a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor. Based on the set of trailer configuration parameters, the control system can configure a motion planning model for autonomously controlling the acceleration, braking, and steering systems of the tractor.
    Type: Grant
    Filed: August 16, 2017
    Date of Patent: June 29, 2021
    Assignee: UATC, LLC
    Inventors: Matthew Shaw Wood, Nancy Yung-Hui Sun, Zachias Rauch Vawter
  • Patent number: 11036233
    Abstract: Systems and methods for controlling the motion of an autonomous are provided. In one example embodiment, a computer implemented method includes obtaining, by one or more computing devices on-board an autonomous vehicle, data associated with one or more objects that are proximate to the autonomous vehicle. The data includes a predicted path of each respective object. The method includes identifying at least one object as an object of interest based at least in part on the data associated with the object of interest. The method includes generating cost data associated with the object of interest. The method includes determining a motion plan for the autonomous vehicle based at least in part on the cost data associated with the object of interest. The method includes providing data indicative of the motion plan to one or more vehicle control systems to implement the motion plan for the autonomous vehicle.
    Type: Grant
    Filed: April 26, 2018
    Date of Patent: June 15, 2021
    Assignee: UATC, LLC
    Inventors: Albert Costa, Michael L. Phillips, Michael Bode
  • Patent number: 11021075
    Abstract: Systems and methods for automatically servicing autonomous vehicles are provided. In one example embodiment, a computer implemented method includes obtaining data associated with one or more reference mechanisms located on an autonomous vehicle. The method includes identifying information associated with the autonomous vehicle based at least in part on the data associated with the one or more reference mechanisms located on the autonomous vehicle. The information associated with the autonomous vehicle includes an orientation of the autonomous vehicle. The method includes determining a vehicle maintenance plan for the autonomous vehicle based at least in part on the information associated with the autonomous vehicle. The method includes providing one or more control signals to implement the vehicle maintenance plan for the autonomous vehicle based at least in part on the orientation of the autonomous vehicle.
    Type: Grant
    Filed: September 19, 2018
    Date of Patent: June 1, 2021
    Assignee: UATC, LLC
    Inventors: Matthew Shaw Wood, Dirk John VandenBerg, III
  • Patent number: 11022977
    Abstract: An autonomous vehicle is operable to follow a primary trajectory that forms a portion of a route. While controlling the autonomous vehicle, the autonomous vehicle calculates a failsafe trajectory to follow as a response to a predetermined type of event.
    Type: Grant
    Filed: October 19, 2018
    Date of Patent: June 1, 2021
    Assignee: UATC, LLC
    Inventors: Justin Wayne Ho, Noah Zych
  • Patent number: 11019364
    Abstract: A machine-learned image compression model includes a first encoder configured to generate a first image code based at least in part on first image data. The first encoder includes a first series of convolutional layers configured to generate a first series of respective feature maps based at least in part on the first image. A second encoder is configured to generate a second image code based at least in part on second image data and includes a second series of convolutional layers configured to generate a second series of respective feature maps based at least in part on the second image and disparity-warped feature data. Respective parametric skip functions associated convolutional layers of the second series are configured to generate disparity-warped feature data based at least in part on disparity associated with the first series of respective feature maps and the second series of respective feature maps.
    Type: Grant
    Filed: March 20, 2020
    Date of Patent: May 25, 2021
    Assignee: UATC, LLC
    Inventors: Jerry Junkai Liu, Shenlong Wang, Raquel Urtasun
  • Patent number: 11017550
    Abstract: Systems and methods for detecting and tracking objects are provided. In one example, a computer-implemented method includes receiving sensor data from one or more sensors. The method includes inputting the sensor data to one or more machine-learned models including one or more first neural networks configured to detect one or more objects based at least in part on the sensor data and one or more second neural networks configured to track the one or more objects over a sequence of sensor data. The method includes generating, as an output of the one or more first neural networks, a 3D bounding box and detection score for a plurality of object detections. The method includes generating, as an output of the one or more second neural networks, a matching score associated with pairs of object detections. The method includes determining a trajectory for each object detection.
    Type: Grant
    Filed: September 5, 2018
    Date of Patent: May 25, 2021
    Assignee: UATC, LLC
    Inventors: Davi Eugenio Nascimento Frossard, Raquel Urtasun
  • Patent number: 11009594
    Abstract: A vehicle sensor calibration system for self-driving vehicles can include a turntable on which a sensor system including a LIDAR sensor is positioned. A plurality of fiducial targets can be positioned around the turntable to enable calibration of the sensor system, and a control mechanism can automatically rotate the turntable when the sensor system is positioned on the turntable. The system can include one or more computing systems that receive a data log corresponding to sensor data recorded by the sensor system as the sensor system rotates on the turntable, and analyze the sensor data to determine a set of calibration parameters to calibrate the sensor system.
    Type: Grant
    Filed: July 17, 2020
    Date of Patent: May 18, 2021
    Assignee: UATC, LLC
    Inventors: Jean-Sebastien Valois, David McAllister Bradley, Adam Charles Watson, Peter Anthony Melick, Andrew Gilbert Miller
  • Patent number: 11009874
    Abstract: In one example embodiment, a computer-implemented method includes receiving data representing a motion plan of the autonomous vehicle via a plurality of control lanes configured to implement the motion plan to control a motion of the autonomous vehicle, the plurality of control lanes including at least a first control lane and a second control lane, and controlling the first control lane to implement the motion plan. The method includes detecting one or more faults associated with implementation of the motion plan by the first control lane or the second control lane, or in generation of the motion plan, and in response to one or more faults, controlling the first control lane or the second control lane to adjust the motion of the autonomous vehicle based at least in part on one or more fault reaction parameters associated with the one or more faults.
    Type: Grant
    Filed: September 10, 2018
    Date of Patent: May 18, 2021
    Assignee: UATC, LLC
    Inventors: Aaron L. Greenfield, Diana Yanakiev, Frederic Tschanz, Charles J. Tytler
  • Patent number: 10996668
    Abstract: Systems and methods for recovering an autonomous vehicle in a fleet of vehicles are provided. In one example embodiment, a computer-implemented method includes detecting an existence of an adverse condition associated with an autonomous vehicle in the fleet. The method includes determining in response to detecting the adverse condition, a recovery plan for the first autonomous vehicle based at least in part on one or more attributes associated with the adverse condition, the recovery plan including one or more actions to recover the first autonomous vehicle at a remote location. The method includes initiating the recovery plan to recover the first autonomous vehicle at the remote location.
    Type: Grant
    Filed: February 10, 2020
    Date of Patent: May 4, 2021
    Assignee: UATC, LLC
    Inventors: Dennis Zhao, Eric James Hanson, Molly Castle Nix, Sean Chin
  • Patent number: 10989538
    Abstract: A sensor data processing system of an autonomous vehicle can receive inertial measurement unit (IMU) data from one or more IMUs of the autonomous vehicle. Based at least in part on the IMU data, the system can identify an IMU data offset from a deficient IMU of the one or more IMUs, and generate an offset compensation transform to compensate for the IMU data offset from the deficient IMU. The system may then dynamically execute the offset compensation transform on the IMU data from the deficient IMU to dynamically compensate for the IMU data offset.
    Type: Grant
    Filed: September 25, 2018
    Date of Patent: April 27, 2021
    Assignee: UATC, LLC
    Inventors: Marc Leach, Mark Sibenac, Robert Zlot, Aaron Greenfield
  • Patent number: 10990094
    Abstract: Sensor information is collected from human driven vehicles which are driven in a given region. From the sensor information, a road condition is detected on a road segment, where the road condition has a sufficiently high likelihood of impairing autonomous vehicles in safely navigating through the one or more road segments. Information about the one or more road segments is communicated to the one or more autonomous vehicles.
    Type: Grant
    Filed: October 12, 2018
    Date of Patent: April 27, 2021
    Assignee: UATC, LLC
    Inventors: William Ross, John Bares, David LaRose, Matthew Sweeney
  • Patent number: 10976740
    Abstract: The present disclosure provides systems and methods for controlling autonomous vehicles. In one example implementation, a method includes providing for display to a passenger of an autonomous vehicle, by a computing system having one or more computing devices, a user interface on a display device. The user interface includes at least one interface element associated with directing movement of the autonomous vehicle. The method includes receiving, by the computing system, a user interaction for a time period directed to the interface element. During the time period, the method includes providing, by the computing system, one or more signals indicative of the user interaction to control the autonomous vehicle to autonomously travel along a predetermined path.
    Type: Grant
    Filed: June 3, 2019
    Date of Patent: April 13, 2021
    Assignee: UATC, LLC
    Inventors: Matthew Shaw Wood, Scott C. Poeppel
  • Patent number: 10970553
    Abstract: Systems and methods for performing semantic segmentation of three-dimensional data are provided. In one example embodiment, a computing system can be configured to obtain sensor data including three-dimensional data associated with an environment. The three-dimensional data can include a plurality of points and can be associated with one or more times. The computing system can be configured to determine data indicative of a two-dimensional voxel representation associated with the environment based at least in part on the three-dimensional data. The computing system can be configured to determine a classification for each point of the plurality of points within the three-dimensional data based at least in part on the two-dimensional voxel representation associated with the environment and a machine-learned semantic segmentation model. The computing system can be configured to initiate one or more actions based at least in part on the per-point classifications.
    Type: Grant
    Filed: September 6, 2018
    Date of Patent: April 6, 2021
    Assignee: UATC, LLC
    Inventors: Chris Jia-Han Zhang, Wenjie Luo, Raquel Urtasun
  • Patent number: 10967862
    Abstract: A computing system can receive sensor log data from one or more first autonomous vehicles (AVs) operating throughout a transport service region, and analyze the sensor log data against a set of road anomaly signatures. Based on analyzing the sensor log data against the set of road anomaly signatures, the computing system may identify road anomalies within the transport service region, and generate a resolution response for each road anomaly. The computing system can then transmit the resolution response to one or more second AVs to cause the one or more second AVs to respond to the road anomaly.
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: April 6, 2021
    Assignee: UATC, LLC
    Inventor: Alyson Bonk
  • Patent number: 10962973
    Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, the disclosed technology can include receiving state data that includes information associated with states of an autonomous vehicle and an environment external to the autonomous vehicle. Responsive to the state data satisfying vehicle stoppage criteria, vehicle stoppage conditions can be determined to have occurred. A severity level of the vehicle stoppage conditions can be selected from a plurality of available severity levels respectively associated with a plurality of different sets of constraints. A motion plan can be generated based on the state data. The motion plan can include information associated with locations for the autonomous vehicle to traverse at time intervals corresponding to the locations. Further, the locations can include a current location of the autonomous vehicle and a destination location at which the autonomous vehicle stops traveling.
    Type: Grant
    Filed: June 1, 2018
    Date of Patent: March 30, 2021
    Assignee: UATC, LLC
    Inventors: Moslem Kazemi, Sameer Bardapurkar
  • Patent number: 10946821
    Abstract: Systems, methods, tangible, non-transitory computer-readable media, and devices for configuration of a vehicle compartment are provided. For example, a method can include receiving, by a computing system, occupancy data based in part on one or more states of one or more objects. Based in part on the occupancy data and compartment data, a compartment configuration can be determined for one or more compartments of an autonomous vehicle. The compartment data can be based in part on a state of the one or more compartments. The compartment configuration can specify one or more spatial relations of one or more compartment components associated with the one or more compartments. One or more configuration signals can be generated based in part on the compartment configuration to control the one or more compartments of the autonomous vehicle.
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: March 16, 2021
    Assignee: UATC, LLC
    Inventor: Matthew Sweeney
  • Patent number: 10943355
    Abstract: Systems and methods for movement detection are provided. In one example embodiment, a computer-implemented method includes obtaining image data and range data representing a scene external to an autonomous vehicle, the image data including at least a first image and a second image that depict the scene. The method includes identifying a set of corresponding image features from the image data, the set of corresponding image features including a first feature in the first image having a correspondence with a second feature in the second image. The method includes determining a respective distance for each of the first feature and the second feature based at least in part on the range data. The method includes determining a velocity associated with a portion of a scene represented by the set of corresponding image features based at least in part on the respective distance for the first feature and the second feature.
    Type: Grant
    Filed: March 12, 2019
    Date of Patent: March 9, 2021
    Assignee: UATC, LLC
    Inventors: Ashton James Fagg, Narek Melik-Barkhudarov
  • Patent number: 10942525
    Abstract: Systems and methods for controlling the motion of an autonomous vehicle are provided. In one example embodiment, one or more computing devices on-board an autonomous vehicle receive one or more constraint files including constraint data descriptive of one or more geographic identifiers (e.g., a polygon) and an application type (e.g., partial inclusion, complete inclusion, partial exclusion, complete exclusion) associated with each of the one or more geographic identifiers. Map data descriptive of the identity and location of different travel ways within the surrounding environment of the autonomous vehicle is accessed. A travel route for navigating the autonomous vehicle is determined, wherein the travel route is determined at least in part from the map data evaluated relative to the constraint data. Motion of the autonomous vehicle can be controlled based at least in part on the determined travel route.
    Type: Grant
    Filed: October 13, 2017
    Date of Patent: March 9, 2021
    Assignee: UATC, LLC
    Inventors: Bryan Nagy, Jordan Romaidis, Brett Bavar, Julie Derence, Marcial Hernandez, Tashwin Khurana
  • Patent number: 10942524
    Abstract: A planar-beam, light detection and ranging (PLADAR) system can include a laser to output a laser beam and a collimator configured to collimate the laser beam axially to emit a planar beam from the laser. The PLADAR system can further include a detector to detect reflected light based on the planar beam being reflected from external surfaces of target objects.
    Type: Grant
    Filed: January 8, 2019
    Date of Patent: March 9, 2021
    Assignee: UATC, LLC
    Inventor: Scott Boehmke
  • Patent number: 10933869
    Abstract: Systems and methods for controlling the motion of an autonomous are provided. In one example embodiment, a computer-implemented method includes obtaining data associated with an object within a surrounding environment of an autonomous vehicle. The data associated with the object is indicative of a predicted motion trajectory of the object. The method includes determining a vehicle action sequence based at least in part on the predicted motion trajectory of the object. The vehicle action sequence is indicative of a plurality of vehicle actions for the autonomous vehicle at a plurality of respective time steps associated with the predicted motion trajectory. The method includes determining a motion plan for the autonomous vehicle based at least in part on the vehicle action sequence. The method includes causing the autonomous vehicle to initiate motion control in accordance with at least a portion of the motion plan.
    Type: Grant
    Filed: January 9, 2018
    Date of Patent: March 2, 2021
    Assignee: UATC, LLC
    Inventors: Kalin Vasilev Gochev, Michael Lee Phillips, David McAllister Bradley, Bradley Nicholas Emi