Patents by Inventor Moslem Kazemi
Moslem Kazemi has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11899462Abstract: The present disclosure is directed to validating motion plans for autonomous vehicles. In particular, the methods, devices, and systems of the present disclosure can: receive data indicating a motion plan of an autonomous vehicle through an environment of the autonomous vehicle; receive data indicating one or more inputs utilized in generating the motion plan; and determine, based at least in part on the data indicating the motion plan and the data indicating the input(s), whether execution of the motion plan by the autonomous vehicle would violate one or more predetermined constraints applicable to motion plans for the autonomous vehicle.Type: GrantFiled: January 12, 2022Date of Patent: February 13, 2024Assignee: UATC, LLCInventors: Moslem Kazemi, Anthony Joseph Stentz
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Publication number: 20240045428Abstract: 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: ApplicationFiled: October 20, 2023Publication date: February 8, 2024Inventors: Moslem Kazemi, Sameer Bardapurkar
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Patent number: 11835950Abstract: 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: GrantFiled: February 22, 2021Date of Patent: December 5, 2023Assignee: UATC, LLCInventors: Moslem Kazemi, Sameer Bardapurkar
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Patent number: 11827240Abstract: Systems and methods for autonomous vehicle motion planning are provided. Sensor data describing an environment of an autonomous vehicle and an initial travel path for the autonomous vehicle through the environment can be obtained. A number of trajectories for the autonomous vehicle are generated based on the sensor data and the initial travel path. The trajectories can be evaluated by generating a number of costs for each trajectory. The costs can include a safety cost and a total cost. Each cost is generated by a cost function created in accordance with a number of relational propositions defining desired relationships between the number of costs. A subset of trajectories can be determined from the trajectories based on the safety cost and an optimal trajectory can be determined from the subset of trajectories based on the total cost. The autonomous vehicle can control its motion in accordance with the optimal trajectory.Type: GrantFiled: December 22, 2020Date of Patent: November 28, 2023Assignee: UATC, LLCInventors: Vijay Subramanian, Moslem Kazemi, David Mcallister Bradley, Michael Lee Phillips
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Patent number: 11714417Abstract: Generally, the present disclosure is directed to systems and methods that include or otherwise leverage an iterative solver as part of optimizing a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can include a warm start generator configured to determine an initial trajectory that respects the dynamics of the autonomous vehicle and that closely tracks a speed profile determined by a constraint solver and one or more nominal paths determined by a route selector. A decision validator can analyze speed profiles and nominal paths to identify potential inconsistencies and validate a decision before optimization and execution. An initial trajectory can be further optimized by an iterative solver to determine an optimized trajectory for execution as a motion plan for the autonomous vehicle.Type: GrantFiled: October 11, 2021Date of Patent: August 1, 2023Assignee: UATC, LLCInventors: Chenggang Liu, Moslem Kazemi, David McAllister Bradley, Tianyu Gu, Michael Lee Phillips
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Patent number: 11687079Abstract: The present disclosure is directed to analyzing motion plans of autonomous vehicles. In particular, the methods, devices, and systems of the present disclosure can: receive data indicating a motion plan, of an autonomous vehicle through an environment, based at least in part on multiple different constraints of the environment; and determine, for each constraint of the multiple different constraints, a measure of an influence of the constraint on the motion plan.Type: GrantFiled: March 19, 2018Date of Patent: June 27, 2023Assignee: UATC, LLCInventors: Sameer Bardapurkar, Moslem Kazemi, David McAllister Bradley
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Patent number: 11390300Abstract: The present disclosure is directed generating candidate trajectories and selecting one of them to be implemented. In particular, a computing system can obtain an initial travel path for an autonomous vehicle. The computing system can obtain sensor data describing objects within an environment of the autonomous vehicle. The computing system can generate a plurality of trajectories for the autonomous vehicle based on the sensor data and the initial travel path. The computing system can determine whether the initial travel path, an offset profile, and a velocity profile meet flatness criteria. In response to determining that the initial travel path, the offset profile, and the velocity profile meet the flatness criteria, the computing system can combine the initial travel path, the offset profile, and the velocity profile into the respective trajectory. The computing system can determine a trajectory from the plurality of trajectories.Type: GrantFiled: September 8, 2020Date of Patent: July 19, 2022Assignee: UATC, LLCInventors: Michael Lee Phillips, David McAllister Bradley, Utku Eren, Chenggang Liu, Daoyuan Jia, Eric Michael Perko, Samuel Philip Marden, Kalin Vasilev Gochev, Moslem Kazemi
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Publication number: 20220176995Abstract: Systems and methods for autonomous vehicle motion planning are provided. Sensor data describing an environment of an autonomous vehicle and an initial travel path for the autonomous vehicle through the environment can be obtained. A number of trajectories for the autonomous vehicle are generated based on the sensor data and the initial travel path. The trajectories can be evaluated by generating a number of costs for each trajectory. The costs can include a safety cost and a total cost. Each cost is generated by a cost function created in accordance with a number of relational propositions defining desired relationships between the number of costs. A subset of trajectories can be determined from the trajectories based on the safety cost and an optimal trajectory can be determined from the subset of trajectories based on the total cost. The autonomous vehicle can control its motion in accordance with the optimal trajectory.Type: ApplicationFiled: December 22, 2020Publication date: June 9, 2022Inventors: Vijay Subramanian, Moslem Kazemi, David McAllister Bradley, Michael Lee Phillips
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Publication number: 20220137630Abstract: The present disclosure is directed to validating motion plans for autonomous vehicles. In particular, the methods, devices, and systems of the present disclosure can: receive data indicating a motion plan of an autonomous vehicle through an environment of the autonomous vehicle; receive data indicating one or more inputs utilized in generating the motion plan; and determine, based at least in part on the data indicating the motion plan and the data indicating the input(s), whether execution of the motion plan by the autonomous vehicle would violate one or more predetermined constraints applicable to motion plans for the autonomous vehicle.Type: ApplicationFiled: January 12, 2022Publication date: May 5, 2022Inventors: Moslem Kazemi, Anthony Joseph Stentz
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Patent number: 11288963Abstract: 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: GrantFiled: April 17, 2020Date of Patent: March 29, 2022Assignee: UATC, LLCInventors: Moslem Kazemi, Nicholas Fermin Andrey Sterner, Eric Michael Perko
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Patent number: 11243541Abstract: The present disclosure is directed to validating motion plans for autonomous vehicles. In particular, the methods, devices, and systems of the present disclosure can: receive data indicating a motion plan of an autonomous vehicle through an environment of the autonomous vehicle; receive data indicating one or more inputs utilized in generating the motion plan; and determine, based at least in part on the data indicating the motion plan and the data indicating the input(s), whether execution of the motion plan by the autonomous vehicle would violate one or more predetermined constraints applicable to motion plans for the autonomous vehicle.Type: GrantFiled: May 15, 2018Date of Patent: February 8, 2022Assignee: UATC, LLCInventors: Moslem Kazemi, Anthony Joseph Stentz
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Publication number: 20220026910Abstract: Generally, the present disclosure is directed to systems and methods that include or otherwise leverage an iterative solver as part of optimizing a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can include a warm start generator configured to determine an initial trajectory that respects the dynamics of the autonomous vehicle and that closely tracks a speed profile determined by a constraint solver and one or more nominal paths determined by a route selector. A decision validator can analyze speed profiles and nominal paths to identify potential inconsistencies and validate a decision before optimization and execution. An initial trajectory can be further optimized by an iterative solver to determine an optimized trajectory for execution as a motion plan for the autonomous vehicle.Type: ApplicationFiled: October 11, 2021Publication date: January 27, 2022Inventors: Chenggang Liu, Moslem Kazemi, David McAllister Bradley, Tianyu Gu, Michael Lee Phillips
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Patent number: 11169528Abstract: Generally, the present disclosure is directed to systems and methods that include or otherwise leverage an iterative solver as part of optimizing a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can include a warm start generator configured to determine an initial trajectory that respects the dynamics of the autonomous vehicle and that closely tracks a speed profile determined by a constraint solver and one or more nominal paths determined by a route selector. A decision validator can analyze speed profiles and nominal paths to identify potential inconsistencies and validate a decision before optimization and execution. An initial trajectory can be further optimized by an iterative solver to determine an optimized trajectory for execution as a motion plan for the autonomous vehicle.Type: GrantFiled: June 15, 2018Date of Patent: November 9, 2021Assignee: UATC, LLCInventors: Chenggang Liu, Moslem Kazemi, David McAllister Bradley, Tianyu Gu, Michael Lee Phillips
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Publication number: 20210271242Abstract: 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: ApplicationFiled: February 22, 2021Publication date: September 2, 2021Inventors: Moslem Kazemi, Sameer Bardapurkar
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Publication number: 20210114617Abstract: The present disclosure is directed generating candidate trajectories and selecting one of them to be implemented. In particular, a computing system can obtain an initial travel path for an autonomous vehicle. The computing system can obtain sensor data describing objects within an environment of the autonomous vehicle. The computing system can generate a plurality of trajectories for the autonomous vehicle based on the sensor data and the initial travel path. The computing system can determine whether the initial travel path, an offset profile, and a velocity profile meet flatness criteria. In response to determining that the initial travel path, the offset profile, and the velocity profile meet the flatness criteria, the computing system can combine the initial travel path, the offset profile, and the velocity profile into the respective trajectory. The computing system can determine a trajectory from the plurality of trajectories.Type: ApplicationFiled: September 8, 2020Publication date: April 22, 2021Inventors: Michael Lee Phillips, David McAllister Bradley, Utku Eren, Chenggang Liu, Daoyuan Jia, Eric Michael Perko, Samuel Philip Marden, Kalin Vasilev Gochev, Moslem Kazemi
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Patent number: 10962973Abstract: 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: GrantFiled: June 1, 2018Date of Patent: March 30, 2021Assignee: UATC, LLCInventors: Moslem Kazemi, Sameer Bardapurkar
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Publication number: 20200250981Abstract: 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: ApplicationFiled: April 17, 2020Publication date: August 6, 2020Inventors: Moslem Kazemi, Nico Andrey, Eric Michael Perko
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Patent number: 10717191Abstract: Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.Type: GrantFiled: December 18, 2017Date of Patent: July 21, 2020Assignee: Brain CorporationInventors: Filip Ponulak, Moslem Kazemi, Patryk Laurent, Oleg Sinyavskiy, Eugene Izhikevich
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Patent number: 10629080Abstract: 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: GrantFiled: September 11, 2017Date of Patent: April 21, 2020Assignee: UATC LLCInventors: Moslem Kazemi, Nicholas Fermin Andrey Sterner, Eric Michael Perko
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Publication number: 20190346851Abstract: Generally, the present disclosure is directed to systems and methods that include or otherwise leverage an iterative solver as part of optimizing a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can include a warm start generator configured to determine an initial trajectory that respects the dynamics of the autonomous vehicle and that closely tracks a speed profile determined by a constraint solver and one or more nominal paths determined by a route selector. A decision validator can analyze speed profiles and nominal paths to identify potential inconsistencies and validate a decision before optimization and execution. An initial trajectory can be further optimized by an iterative solver to determine an optimized trajectory for execution as a motion plan for the autonomous vehicle.Type: ApplicationFiled: June 15, 2018Publication date: November 14, 2019Inventors: Chenggang Liu, Moslem Kazemi, David McAllister Bradley, Tianyu Gu, Michael Lee Phillips