Patents Assigned to UATC, LLC
  • Patent number: 10843669
    Abstract: The present disclosure provides systems and methods for controlling a sensor system. More particularly, a sensor control system can access respective first data and second data descriptive of one or more monitored parameters associated with a first sensor of an autonomous vehicle. Based on the first data and the second data, the sensor control system can determine that a change in the one or more monitored parameters between the first sensor and the one or more second sensors has exceeded a predetermined threshold level. In response, the sensor control system can implement a control action relative to at least the first sensor (e.g., initiating cleaning of the first sensor, adjusting alignment of the first sensor, determining a compensation factor for the first data received from the first sensor, or communicating a signal request for service of the first sensor).
    Type: Grant
    Filed: October 30, 2017
    Date of Patent: November 24, 2020
    Assignee: UATC, LLC
    Inventors: William M. Leach, Scott C. Poeppel, Matthew A. Langford, Tess H. Bianchi
  • Patent number: 10824162
    Abstract: An autonomous vehicle (AV) includes a vehicle computing system including one or more processors configured to receive map data associated with a map of a geographic location, receive pose data based on a pose estimate associated with a location of the autonomous vehicle, determine, based on the pose data, that the autonomous vehicle is on a coverage lane, and, in response to determining that the autonomous vehicle is on the coverage lane, determine one or more candidate lanes, generate a route plan, based on the one or more candidate lanes and a current lane, and control travel of the autonomous vehicle on the route plan. The map includes (i) a coverage lane where the autonomous vehicle can travel under a partially-autonomous mode or a manual mode, and (ii) an AV lane where the autonomous vehicle can travel under a fully-autonomous mode. The autonomous vehicle configured to determine a pose estimate in a submap of a plurality of submaps where an autonomous vehicle can travel.
    Type: Grant
    Filed: March 7, 2018
    Date of Patent: November 3, 2020
    Assignee: UATC, LLC
    Inventors: Adam Cole Panzica, Brett Bavar
  • Patent number: 10817731
    Abstract: Object detection systems and methods can include identifying an object of interest within an image obtained from a camera, obtaining a first supplemental portion of data associated with the object of interest determining an estimated location of the object of interest within three-dimensional space based at least in part on the first supplemental portion of data and a known relative location of the camera, determining a portion of the LIDAR point data corresponding to the object of interest based at least in part on the estimated location of the object of interest within three-dimensional space, and providing one or more of at least a portion of the image corresponding to the object of interest and the portion of LIDAR point data corresponding to the object of interest as an output.
    Type: Grant
    Filed: October 8, 2018
    Date of Patent: October 27, 2020
    Assignee: UATC, LLC
    Inventors: Carlos Vallespi-Gonzalez, Joseph Lawrence Amato, Hilton Keith Bristow
  • Patent number: 10818187
    Abstract: Systems and methods for controlling an autonomous vehicle to assist another autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining data representing a vehicle route of a first autonomous vehicle, wherein the first autonomous vehicle travels along the vehicle route from a first location to a second location. The method includes obtaining data representing an occlusion point that affects an operation of the first autonomous vehicle along the vehicle route. The method includes selecting a second autonomous vehicle, based at least in part on (i) the vehicle route and (ii) the occlusion point, to assist the first autonomous vehicle. The method includes deploying the second autonomous vehicle to assist the first autonomous vehicle to travel along the vehicle route.
    Type: Grant
    Filed: July 17, 2017
    Date of Patent: October 27, 2020
    Assignee: UATC, LLC
    Inventor: Eric Michael Perko
  • Patent number: 10809719
    Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining data representing a first trajectory including one or more states corresponding to a motion path. The method includes determining a second trajectory based at least in part on the first trajectory, the second trajectory including a first state corresponding to the motion path, and one or more secondary states corresponding to the motion path, the one or more secondary states indicating a state of the autonomous vehicle relative to the first state. The method includes determining one or more control signals based at least in part on the second trajectory. The method includes controlling a motion of the autonomous vehicle according to the motion path, based at least in part on the one or more control signals.
    Type: Grant
    Filed: August 29, 2017
    Date of Patent: October 20, 2020
    Assignee: UATC, LLC
    Inventors: Guillaume Binet, Diana Yanakiev, Dillon Collins, David McAllister Bradley, Frederic Tschanz
  • Patent number: 10809361
    Abstract: Systems and methods for detecting and classifying objects proximate to an autonomous vehicle can include a sensor system and a vehicle computing system. The sensor system includes at least one LIDAR system configured to transmit ranging signals relative to the autonomous vehicle and to generate LIDAR data. The vehicle computing system receives the LIDAR data from the sensor system. The vehicle computing system also determines at least a range-view representation of the LIDAR data and a top-view representation of the LIDAR data, wherein the range-view representation contains a fewer number of total data points than the top-view representation. The vehicle computing system further detects objects of interest in the range-view representation of the LIDAR data and generates a bounding shape for each of the detected objects of interest in the top-view representation of the LIDAR data.
    Type: Grant
    Filed: February 28, 2018
    Date of Patent: October 20, 2020
    Assignee: UATC, LLC
    Inventors: Carlos Vallespi-Gonzalez, Ankit Laddha, Gregory P Meyer, Eric Randall Kee
  • Patent number: 10803325
    Abstract: Systems and methods for facilitating communication with autonomous vehicles are provided. In one example embodiment, a computing system can obtain rasterized LIDAR data associated with a surrounding environment of an autonomous vehicle. The rasterized LIDAR data can include LIDAR image data that is rasterized from a LIDAR point cloud. The computing system can access data indicative of a machine-learned lane boundary detection model. The computing system can input the rasterized LIDAR data associated with the surrounding environment of the autonomous vehicle into the machine-learned lane boundary detection model. The computing system can obtain an output from the machine-learned lane boundary detection model. The output can be indicative of one or more lane boundaries within the surrounding environment of the autonomous vehicle.
    Type: Grant
    Filed: September 5, 2018
    Date of Patent: October 13, 2020
    Assignee: UATC, LLC
    Inventors: Min Bai, Gellert Sandor Mattyus, Namdar Homayounfar, Shenlong Wang, Shrindihi Kowshika Lakshmikanth, Raquel Urtasun, Wei-Chiu Ma
  • Patent number: 10803328
    Abstract: Systems and methods for detecting objects are provided. In one example, a computer-implemented method includes receiving sensor data from one or more sensors configured to generate sensor data. The method includes inputting the sensor data to a machine-learned model that generates a class prediction and an instance prediction for each of a plurality of portions of the sensor data. The instance prediction includes an energy value based on a distance to at least one object boundary. The machine learned model can be trained to generate a common energy value to represent the at least one object boundary. The method includes generating as outputs of the machine-learned model, an instance prediction and a class prediction corresponding to each of the plurality of portions of the sensor data. The method includes generating one or more object segments based at least in part on the instance predictions and the class predictions.
    Type: Grant
    Filed: September 6, 2018
    Date of Patent: October 13, 2020
    Assignee: UATC, LLC
    Inventors: Min Bai, Raquel Urtasun
  • Patent number: 10800427
    Abstract: Systems and methods are directed to compensating for time delays. In one example, a system includes one or more processors and memory including instructions that, when executed by the one or more processors, cause the one or more processors to perform operations. The operations include obtaining first pose data indicative of a pose of a vehicle; obtaining first control data indicative of a first vehicle control command that has yet to affect control of the vehicle; determining, based at least partially on the first pose data and the first control data, predicted pose data indicative of an estimate of a pose of the vehicle that will result after the vehicle control command affects control of the vehicle; and generating, based at least partially on the predicted pose data, second control data indicative of a second vehicle control command to be applied subsequent to the first vehicle control command.
    Type: Grant
    Filed: November 13, 2017
    Date of Patent: October 13, 2020
    Assignee: UATC, LLC
    Inventors: Joshua David Goldberg, Benjamin Florian Corentin Butin
  • Patent number: 10795356
    Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes providing a control of the autonomous vehicle to a user associated with a vehicle service. The method includes identifying one or more release signals indicative of one or more actions of the user. The method includes releasing the control of the autonomous vehicle from the user, based at least in part on the release signals.
    Type: Grant
    Filed: October 4, 2017
    Date of Patent: October 6, 2020
    Assignee: UATC, LLC
    Inventors: Molly Castle Nix, Sean Chin, Dennis Zhao, Eric J. Hanson, Scott C. Poeppel, Sean Hyde
  • Patent number: 10795367
    Abstract: A method for receiving autonomous vehicle (AV) driving path data associated with a driving path in a roadway of a geographic location. The driving path data associated with a trajectory for an AV in a roadway and trajectory points in a trajectory of the driving path in the roadway for determining at least one feature of the roadway positioned a lateral distance from a first trajectory of the one or more trajectories of the driving path of an AV based on the map data. The method includes receiving map data associated with a map of a geographic location, determining a driving path for an AV in a roadway, generating driving path information based on a trajectory point in a trajectory of the driving path, and providing driving path data associated with the driving path to an AV for controlling the AV on the roadway.
    Type: Grant
    Filed: March 6, 2018
    Date of Patent: October 6, 2020
    Assignee: UATC, LLC
    Inventors: Adam Henry Polk Milstein, Donald Jason Burnette, Lisa Christine Weitekamp, Bryan John Nagy, Eric Michael Perko
  • Patent number: 10789835
    Abstract: An autonomous vehicle (AV) software management system can collect historical data of harmful events of human-driven vehicles (HDVs) within an autonomy grid on which AVs operate. For each path segment of the autonomy grid, the system can determine a fractional risk value for HDVs. The system may also receive AV data from a fleet of AVs operating throughout the autonomy grid, and for each path segment of the autonomy grid, the system can evaluate AV performance against the fractional risk values for HDVs based on the received AV data.
    Type: Grant
    Filed: May 23, 2017
    Date of Patent: September 29, 2020
    Assignee: UATC, LLC
    Inventors: Dima Kislovskiy, David McAllister Bradley
  • Patent number: 10791436
    Abstract: Systems and methods are directed to communication between a vehicle and an entity infrastructure. In one example, a computer-implemented method for facilitating communication from and to a vehicle includes obtaining, by a computing system comprising one or more computing devices, a request to establish communication from a vehicle computing system. The method further includes establishing, by the computing system, one or more bidirectional communication connections to the vehicle computing system. The method further includes receiving, by the computing system, one or more messages over the one or more communication connections to the vehicle computing system. The method further includes determining, by the computing system, routing for the one or more received messages. The method further includes providing, by the computing system, the one or more messages to one or more clients based at least in part on the determined routing.
    Type: Grant
    Filed: February 14, 2018
    Date of Patent: September 29, 2020
    Assignee: UATC, LLC
    Inventors: Matthew James Way, Chee Yu, Steve Ayers
  • Patent number: 10780880
    Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle, wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics.
    Type: Grant
    Filed: August 2, 2018
    Date of Patent: September 22, 2020
    Assignee: UATC, LLC
    Inventors: Matthew Shaw Wood, William M. Leach, Scott C. Poeppel, Nicholas G. Letwin, Noah Zych
  • Patent number: 10784928
    Abstract: Various examples are directed to a rotary coupler and methods of use thereof. The rotary data coupler may comprise a transmitter and receiver. The transmitter may comprise a first band and a second transmitter band. The receiver may comprise a receiver housing positioned to rotate relative to the first transmitter band and the second transmitter band. A first receiver band may be positioned opposite the first transmitter band to form a first capacitor and a second receiver band may be positioned opposite the second transmitter band to form a second capacitor. The receiver may also comprise a resistance electrically coupled between the first receiver band and the second receiver band and a differential amplifier. The differential amplifier may comprise an inverting input and a non-inverting input, with the non-inverting input electrically coupled to the first receiver band and the inverting input electrically coupled to the second receiver band.
    Type: Grant
    Filed: October 30, 2019
    Date of Patent: September 22, 2020
    Assignee: UATC, LLC
    Inventors: Brian Thomas Kirby, Scott K. Boehmke, Yoonki Peter Park, James A. Gasbarro
  • Patent number: 10782411
    Abstract: Various examples are directed to systems and methods for determining a pose of a vehicle. A first localizer may generate a first pose estimate for the vehicle based at least in part on a comparison of first remote sensor data to a first reference data. A second localizer may generate a second pose estimate for the vehicle based at least in part on a comparison of second remote sensor data to a second reference data. A pose state estimator may generate a vehicle pose for the vehicle based at least in part on a first previous pose of the vehicle, the first pose estimate, and the second pose estimate.
    Type: Grant
    Filed: May 23, 2018
    Date of Patent: September 22, 2020
    Assignee: UATC, LLC
    Inventors: Rachel Ahn, David Prasser, Peter Hansen, Robert Zlot, Ethan Duff Eade
  • Patent number: 10775488
    Abstract: A LIDAR calibration module can detect a set of return signals from a plurality of fiducial targets for a set of laser scanners of an autonomous vehicle's LIDAR module. The autonomous vehicle can rest on an inclined platform of a rotating turntable to increase range variation in the return signals. Based on the set of return signals, the LIDAR calibration system can generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.
    Type: Grant
    Filed: August 17, 2017
    Date of Patent: September 15, 2020
    Assignee: UATC, LLC
    Inventors: David McAllister Bradley, Gehua Yang
  • Patent number: 10766500
    Abstract: A sensory stimulation system within an interior of an autonomous vehicle (AV) can obtain maneuver data representing one or more maneuvers to be performed by the AV. For each respective maneuver of the one or more maneuvers, the system can determine one or more visual outputs to provide a passenger of the AV with a sensory indication of the respective maneuver, and then output the one or more visual outputs via the display system.
    Type: Grant
    Filed: August 1, 2018
    Date of Patent: September 8, 2020
    Assignee: UATC, LLC
    Inventors: Matthew Sweeney, Emily Bartel
  • Patent number: 10768628
    Abstract: Systems and methods are directed to object detection at various ranges for autonomous vehicles. In one example, a system includes a camera providing a first field of view; a machine-learned model that has been trained to generate object detection range estimates based at least in part on labeled training data representing image data having a second field of view different from the first field of view; and a computing system including one or more processors; and memory including instructions that, when executed by the one or more processors, cause the one or more processors to perform operations. The operations include obtaining image data from the camera.
    Type: Grant
    Filed: May 30, 2018
    Date of Patent: September 8, 2020
    Assignee: UATC, LLC
    Inventors: R. Lance Martin, Zac Vawter, Andrei Pokrovsky
  • Patent number: 10768621
    Abstract: A method for determining and providing alternative routes receives request data associated with a request from a user device. A first canonical route is determined from a plurality of canonical routes based on the request data. Each respective canonical route of the plurality of canonical routes satisfies at least one autonomy criteria associated with whether an autonomous vehicle can travel on the respective canonical route. First route data associated with the first canonical route is provided. Route identification data associated with identifying an alternative canonical route is received after providing the first route data associated with the first canonical route. A second canonical route is determined from the plurality of canonical routes based on the route identification data. Second route data associated with the second canonical route is provided for controlling travel of the autonomous vehicle on the second canonical route.
    Type: Grant
    Filed: October 20, 2017
    Date of Patent: September 8, 2020
    Assignee: UATC, LLC
    Inventors: Molly Castle Nix, Dennis Zhao, Eric James Hanson, Sean Rhee Chin