Patents Assigned to UATC, LLC
  • Patent number: 10647333
    Abstract: Systems and methods for maintaining autonomous vehicle operator awareness are provided. A method can include determining, by a computing system, an awareness challenge for an operator of a vehicle. The awareness challenge can be based on object data. The awareness challenge can have one or more criteria. The criteria can include a challenge response interval, a response time, and an action for satisfying the awareness challenge. The method can include initiating, by the computing system, a timer measuring elapsed time from a start time of the challenge response interval. The method can include communicating to the operator, by the computing system, a soft notification indicative of the awareness challenge during the challenge response interval. The method can include determining, by the computing system, whether the operator provides a user input after the response time interval and whether the user input corresponds to the action for satisfying the awareness challenge.
    Type: Grant
    Filed: October 8, 2018
    Date of Patent: May 12, 2020
    Assignee: UATC, LLC
    Inventors: Richard Brian Donnelly, Philipp Haban, Christopher Matthew D'Eramo, Chad Johnathan Staller, Clifford Shaun Webb, Douglas Dallesandro
  • Patent number: 10629080
    Abstract: The present disclosure provides autonomous vehicles that include a vehicle intention system that provides intention signals indicative of an intention of the autonomous vehicle. In particular, in one example, the vehicle intention system can obtain one or more operational messages from various systems or components of an autonomous vehicle that operate to control the autonomous vehicle. The operational messages can include operational data regarding the control or operation of the autonomous vehicle. The vehicle intention system can determine an intention of the autonomous vehicle based at least in part on the one or more operational messages. The vehicle intention system can output one or more intention signals that indicate the determined intention of the autonomous vehicle. For example, the vehicle intention system can publish intention messages that indicate the determined intention to one or more components or systems that consume the intention messages.
    Type: Grant
    Filed: September 11, 2017
    Date of Patent: April 21, 2020
    Assignee: UATC LLC
    Inventors: Moslem Kazemi, Nicholas Fermin Andrey Sterner, Eric Michael Perko
  • Patent number: 10620634
    Abstract: The present disclosure provides a vehicle interface for an autonomous vehicle. In particular, the systems and methods of the present disclosure can, responsive to receiving, from an autonomy computing system of an autonomous vehicle, a time-based trajectory for the autonomous vehicle, verify that execution of the time-based trajectory is within parameters of the autonomous vehicle. Responsive to verifying that execution of the time-based trajectory is within the parameters of the autonomous vehicle, the time-based trajectory can be converted into a spatial path for the autonomous vehicle, and one or more controls of the autonomous vehicle can be interfaced with such that the autonomous vehicle tracks the spatial path.
    Type: Grant
    Filed: September 28, 2017
    Date of Patent: April 14, 2020
    Assignee: UATC, LLC
    Inventors: Frederic Tschanz, Aaron L. Greenfield, Diana Yanakiev, Dillon Collins
  • Patent number: 10618498
    Abstract: Systems and methods are directed to providing controlled user access to an autonomous vehicle. In one example, a computer-implemented method for providing access to an autonomous vehicle includes requesting, by a computing system comprising one or more computing devices, an authentication of a user desiring access to an autonomous vehicle, wherein the authentication of the user is to be performed by a user computing device associated with the user using one or more biometric sensors. The method further includes receiving, by the computing system, user authentication result data indicating that the user authentication was successful; and in response to receiving the user authentication result data indicating that the user authentication was successful, providing, by the computing system, user access data to the autonomous vehicle, wherein the user access data comprises instructions for the autonomous vehicle to perform one or more actions to enable access to the autonomous vehicle.
    Type: Grant
    Filed: July 27, 2017
    Date of Patent: April 14, 2020
    Assignee: UATC LLC
    Inventor: Nimrod Gat
  • Patent number: 10618519
    Abstract: Systems and methods are directed to lane change control for an autonomous vehicle. In one example, a computer-implemented method for determining whether to abort a lane change in an autonomous vehicle includes initiating, by a computing system comprising one or more computing devices, a lane change procedure for an autonomous vehicle. The method further includes obtaining, by the computing system, data indicative of one or more changed objects relative to the autonomous vehicle. The method further includes determining, by the computing system, that the lane change procedure cannot be completed by the autonomous vehicle based at least in part on the data indicative of one or more changed objects. The method further includes in response to determining that the lane change cannot be completed by the autonomous vehicle, generating, by the computing system, a motion plan that controls the autonomous vehicle to abort the lane change procedure.
    Type: Grant
    Filed: January 5, 2018
    Date of Patent: April 14, 2020
    Assignee: UATC LLC
    Inventors: Samuel Philip Marden, Eric Michael Perko
  • Patent number: 10613815
    Abstract: The present disclosure is directed to an apparatus for positioning an interactive-display device within an interior of an autonomous vehicle. In particular, an autonomous vehicle can include an interior comprising at least two different interior portions configured to accommodate one or more passengers. The autonomous vehicle can also include an interactive-display device. The autonomous vehicle can further include an apparatus for positioning the interactive-display device within the interior such that it is accessible by at least one of the passenger(s).
    Type: Grant
    Filed: June 18, 2018
    Date of Patent: April 7, 2020
    Assignee: UATC, LLC
    Inventors: Johad Husseini Ellis, Christopher Matthew D'Eramo
  • Patent number: 10614715
    Abstract: Systems and methods for communicating autonomous vehicle confidence levels are provided. In one example embodiment, a computer implemented method includes obtaining, by a computing system including one or more computing devices onboard an autonomous vehicle, data associated with the autonomous vehicle. The method includes determining, by the computing system, a vehicle confidence level associated with one or more system actions of the autonomous vehicle based at least in part on the data associated with the autonomous vehicle. The method includes determining, by the computing system, an external vehicle indication that is indicative of the vehicle confidence level. The method includes outputting, by the computing system via an output device onboard the autonomous vehicle, the external vehicle indication that is indicative of the vehicle confidence level. The external vehicle indication is outputted to at least a portion of a surrounding environment of the autonomous vehicle.
    Type: Grant
    Filed: July 14, 2017
    Date of Patent: April 7, 2020
    Assignee: UATC, LLC
    Inventors: Matthew Sweeney, Brian Douglas Cullinane
  • Patent number: 10611384
    Abstract: Systems and methods for managing autonomous vehicle operator vigilance are provided. A method can include determining, by a computing system comprising one or more processors, a first vigilance prompt. The first vigilance prompt can be included in a plurality of vigilance prompts. Each of the plurality of vigilance prompts can be different from each other vigilance prompt. Each vigilance prompt can be a prompt for the vehicle operator to perform a particular interaction with the autonomous vehicle. The method can further include providing, by the computing system, the first vigilance prompt to a vehicle operator of an autonomous vehicle. The method can further include receiving, by the computing system, a first response from the vehicle operator in response to the first vigilance prompt. The method can further include determining, by the computing system, a vehicle operator vigilance level based at least in part on the first response.
    Type: Grant
    Filed: August 17, 2018
    Date of Patent: April 7, 2020
    Assignee: UATC, LLC
    Inventors: Dirk John VandenBerg, III, Benjamin Stanley Swears
  • Patent number: 10598791
    Abstract: Aspects of the present disclosure involve systems, methods, and devices for determining reflectance properties of objects based on Lidar intensity values, A system includes one or more processors of a machine and a machine-storage medium storing instructions that, when executed by the one or more processors, cause the machine to perform operations comprising accessing an incoming data point output by a Lidar unit during operation of a vehicle. The operations may further include inferring, using a reflectance inference model, a reflectance value of an object based on the incoming data point. The reflectance inference model comprises a mapping of previously collected data points to a coordinate system using associated range values and raw intensity values. The operations may further include determining one or more characteristics of the object based on the inferred reflectance value.
    Type: Grant
    Filed: October 22, 2018
    Date of Patent: March 24, 2020
    Assignee: UATC, LLC
    Inventors: Shantanu Jain, Gehua Yang
  • Patent number: 10599546
    Abstract: Systems and methods for autonomous vehicle testing are provided. In one example embodiment, a computer-implemented method includes obtaining, by a computing system, data indicative of a test of an autonomous vehicle computing system. The method can include determining, by the computing system, one or more autonomous vehicle capabilities that are tested by the test. The method includes determining, by the computing system, a testing scenario that corresponds to the test. The testing scenario can generated at least in part using real-world data. The method includes associating, by the computing system, the data indicative of the test with data indicative of the one or more autonomous vehicle capabilities that are tested by the test and data indicative of the testing scenario. The method includes storing such associated data in in an accessible memory.
    Type: Grant
    Filed: November 9, 2017
    Date of Patent: March 24, 2020
    Assignee: UATC, LLC
    Inventors: Charly Mario Walther, Nathan Steven Appelson, Jeffrey Allen Howell
  • Patent number: 10586458
    Abstract: A hybrid trip planning system can receive transport requests from requesting users, and determine a pick-up location from each transport request. The pick-up location can be within or external to an autonomy grid on which a plurality of autonomous vehicles (AVs) can operate in an autonomous mode. The system can further determine a drop-off location from the transport request, the drop-off location also being within or external to the autonomy grid. The system can select and route an AV to a most optimal entry and/or exit point of the autonomy grid based on the transport request, where the selected AV is to switch between a manual and an autonomous mode.
    Type: Grant
    Filed: June 11, 2019
    Date of Patent: March 10, 2020
    Assignee: UATC, LLC
    Inventors: Brett Bavar, Emily Bartel, Xiaodong Zhang, Molly Nix, Matthew Sweeney, Bryan Nagy
  • Patent number: 10585432
    Abstract: A user interface device for an autonomous vehicle (AV) can include an autonomy engage selector and a plurality of vehicle interfaces connected in series. Each of the plurality of vehicle interfaces can correspond to a respective vehicle operation and can include a relay that engages when the vehicle interface is in a ready state. The user interface device can also include a drive-by-wire controller to autonomously operate each of the plurality of vehicle interfaces in response to an engage input on the autonomy engage selector when the user interface device is in a ready condition.
    Type: Grant
    Filed: January 18, 2017
    Date of Patent: March 10, 2020
    Assignee: UATC, LLC
    Inventors: Nicholas Letwin, Morgan Jones
  • Patent number: 10579054
    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: January 31, 2018
    Date of Patent: March 3, 2020
    Assignee: UATC, LLC
    Inventors: Dennis Zhao, Eric James Hanson, Molly Castle Nix, Sean Chin
  • Patent number: 10579063
    Abstract: The present disclosure provides systems and methods for predicting the future locations of objects that are perceived by autonomous vehicles. An autonomous vehicle can include a prediction system that, for each object perceived by the autonomous vehicle, generates one or more potential goals, selects one or more of the potential goals, and develops one or more trajectories by which the object can achieve the one or more selected goals. The prediction systems and methods described herein can include or leverage one or more machine-learned models that assist in predicting the future locations of the objects. As an example, in some implementations, the prediction system can include a machine-learned static object classifier, a machine-learned goal scoring model, a machine-learned trajectory development model, a machine-learned ballistic quality classifier, and/or other machine-learned models. The use of machine-learned models can improve the speed, quality, and/or accuracy of the generated predictions.
    Type: Grant
    Filed: August 23, 2017
    Date of Patent: March 3, 2020
    Assignee: UATC, LLC
    Inventors: Galen Clark Haynes, Ian Dewancker, Nemanja Djuric, Tzu-Kuo Huang, Tian Lan, Tsung-Han Lin, Micol Marchetti-Bowick, Vladan Radosavljevic, Jeff Schneider, Alexander David Styler, Neil Traft, Huahua Wang, Anthony Joseph Stentz
  • Patent number: 10569663
    Abstract: The present disclosure is directed to autonomous vehicle platforms and autonomous vehicles including such platforms. For example, an autonomous vehicle can include a bisymmetrical platform including a first portion, a second portion, a third portion and a fourth portion that collectively provide a supporting structure for the autonomous vehicle and that respectively comprise a wheel mounting frame configured for location of a wheel assembly. A body including front and rear sides and first and second lateral sides can be positioned on top of the bisymmetrical platform configured to receive passengers for transport. The autonomous vehicle can also include a plurality of wheel assemblies configured for secure positioning relative to each wheel mounting frame within the bisymmetrical platform and a powertrain configured to power the plurality of wheel assemblies for operation of the autonomous vehicle to travel in either a forward direction or a rear direction.
    Type: Grant
    Filed: July 25, 2018
    Date of Patent: February 25, 2020
    Assignee: UATC, LLC
    Inventor: Clifford Shaun Webb
  • Patent number: 10571917
    Abstract: Systems and methods for providing a vehicle service are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of a service request to provide a vehicle service for an entity with respect to one or more cargo items designated for autonomous transport. The method includes obtaining a first cargo item among the one or more cargo items, from a representative of the entity at a dedicated first transfer hub proximate to a first location associated with the first cargo item. The method includes controlling a first autonomous vehicle to transport the first cargo item from the first transfer hub to a dedicated second transfer hub proximate to a second location associated with the first cargo item. The method includes providing the first cargo item to a representative of the entity at the second transfer hub, to provide the vehicle service.
    Type: Grant
    Filed: December 21, 2017
    Date of Patent: February 25, 2020
    Assignee: UATC, LLC
    Inventors: Alden James Woodrow, Robert Evan Miller
  • Patent number: 10571916
    Abstract: The present disclosure provides control systems and methods for an autonomous vehicle. In one example implementation, a control method includes obtaining data indicative of a motion plan for the autonomous vehicle. The method includes upsampling the data indicative of the motion plan to determine a desired vehicle state for the autonomous vehicle. The method includes obtaining data indicative of a current vehicle state for the autonomous vehicle. The method includes determining a control command for the autonomous vehicle based at least in part on the desired vehicle state and the current vehicle state. The method includes controlling the vehicle component based at least in part on the control command.
    Type: Grant
    Filed: September 6, 2017
    Date of Patent: February 25, 2020
    Assignee: UATC, LLC
    Inventors: Frederic Tschanz, Diana Yanakiev, Jur van den Berg
  • Patent number: 10571922
    Abstract: The present disclosure provides systems and methods that employ tolerance values defining a level of vehicle control precision for motion control of an autonomous vehicle. More particularly, a vehicle controller can obtain a trajectory that describes a proposed motion path for the autonomous vehicle. A constraint set of one or more tolerance values (e.g., a longitudinal tolerance value and/or lateral tolerance value) defining a level of vehicle control precision can be determined or otherwise obtained. Motion of the autonomous vehicle can be controlled to follow the trajectory within the one or more tolerance values (e.g., longitudinal tolerance value(s) and/or a lateral tolerance value(s)) identified by the constraint set. By creating a motion control framework for autonomous vehicles that includes an adjustable constraint set of tolerance values, autonomous vehicles can more effectively implement different precision requirements for different driving situations.
    Type: Grant
    Filed: August 28, 2019
    Date of Patent: February 25, 2020
    Assignee: UATC, LLC
    Inventors: Aaron L. Greenfield, Frederic Tschanz, David McAllister Bradley, Diana Yanakiev
  • Patent number: 10562538
    Abstract: Systems and methods for determining object motion and controlling autonomous vehicles are provided. In one example embodiment, a computing system includes processor(s) and one or more tangible, non-transitory, computer readable media that collectively store instructions that when executed by the processor(s) cause the computing system to perform operations. The operations include obtaining data associated with a first object and one or more second objects within a surrounding environment of an autonomous vehicle. The operations include determining an interaction between the first object and the one or more second objects based at least in part on the data. The operations include determining one or more predicted trajectories of the first object within the surrounding environment based at least in part on the interaction between the first object and the one or more second objects. The operations include outputting data indicative of the one or more predicted trajectories of the first object.
    Type: Grant
    Filed: December 20, 2017
    Date of Patent: February 18, 2020
    Assignee: UATC, LLC
    Inventors: Tian Lan, Galen Clark Haynes, Alexander David Styler
  • Patent number: D881109
    Type: Grant
    Filed: November 7, 2017
    Date of Patent: April 14, 2020
    Assignee: UATC, LLC
    Inventors: Philipp Haban, Christopher D'Eramo