Patents by Inventor Samuel Philip Marden

Samuel Philip Marden 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).

  • Patent number: 12130624
    Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can generate constraints based on where objects of interest are predicted to be relative to an autonomous vehicle. A constraint solver can identify navigation decisions for each of the constraints that provide a consistent solution across all constraints. The solution provided by the constraint solver can be in the form of a trajectory path determined relative to constraint areas for all objects of interest. The trajectory path represents a set of navigation decisions such that a navigation decision relative to one constraint doesn't sacrifice an ability to satisfy a different navigation decision relative to one or more other constraints.
    Type: Grant
    Filed: January 27, 2022
    Date of Patent: October 29, 2024
    Assignee: AURORA OPERATIONS, INC.
    Inventors: Michael Lee Phillips, Don Burnette, Kalin Vasilev Gochev, Somchaya Liemhetcharat, Harishma Dayanidhi, Eric Michael Perko, Eric Lloyd Wilkinson, Colin Jeffrey Green, Wei Liu, Anthony Joseph Stentz, David Mcallister Bradley, Samuel Philip Marden
  • Patent number: 12045054
    Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can generate constraints based on where objects of interest are predicted to be relative to an autonomous vehicle. A constraint solver can identify navigation decisions for each of the constraints that provide a consistent solution across all constraints. The solution provided by the constraint solver can be in the form of a trajectory path determined relative to constraint areas for all objects of interest. The trajectory path represents a set of navigation decisions such that a navigation decision relative to one constraint doesn't sacrifice an ability to satisfy a different navigation decision relative to one or more other constraints.
    Type: Grant
    Filed: January 6, 2023
    Date of Patent: July 23, 2024
    Assignee: UATC, LLC
    Inventors: Michael Lee Phillips, Don Burnette, Kalin Vasilev Gochev, Somchaya Liemhetcharat, Harishma Dayanidhi, Eric Michael Perko, Eric Lloyd Wilkinson, Colin Jeffrey Green, Wei Liu, Anthony Joseph Stentz, David McAllister Bradley, Samuel Philip Marden
  • Patent number: 11537127
    Abstract: Systems and methods for vehicle motion planning based on uncertainty are provided. A method can include obtaining scene data descriptive of one or more objects within a surrounding environment of the autonomous vehicle. The method can include determining one or more subproblems based at least in part on the scene data. In some implementation, each of the one or more subproblems can correspond to at least one object within the surrounding environment of the autonomous vehicle. The method can include generating one or more branching policies based at least in part on the one or more subproblems. In some implementations, each of the one or more branching policies can include scene data associated with the autonomous vehicle and one or more objects within the surrounding environment of the autonomous vehicle. The method can include determining one or more costs associated each of the one or more branching policies.
    Type: Grant
    Filed: December 13, 2019
    Date of Patent: December 27, 2022
    Assignee: UATC, LLC
    Inventors: Eric Lloyd Wilkinson, Michael Lee Phillips, David Mcallister Bradley, Zakary Warren Littlefield, Aum Jadhav, Utku Eren, Samuel Philip Marden, Colin Jeffrey Green
  • Patent number: 11390300
    Abstract: 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: Grant
    Filed: September 8, 2020
    Date of Patent: July 19, 2022
    Assignee: UATC, LLC
    Inventors: Michael Lee Phillips, David McAllister Bradley, Utku Eren, Chenggang Liu, Daoyuan Jia, Eric Michael Perko, Samuel Philip Marden, Kalin Vasilev Gochev, Moslem Kazemi
  • Publication number: 20220171390
    Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can generate constraints based on where objects of interest are predicted to be relative to an autonomous vehicle. A constraint solver can identify navigation decisions for each of the constraints that provide a consistent solution across all constraints. The solution provided by the constraint solver can be in the form of a trajectory path determined relative to constraint areas for all objects of interest. The trajectory path represents a set of navigation decisions such that a navigation decision relative to one constraint doesn't sacrifice an ability to satisfy a different navigation decision relative to one or more other constraints.
    Type: Application
    Filed: January 27, 2022
    Publication date: June 2, 2022
    Inventors: Michael Lee Phillips, Don Burnette, Kalin Vasilev Gochev, Somchaya Liemhetcharat, Harishma Dayanidhi, Eric Michael Perko, Eric Lloyd Wilkinson, Colin Jeffrey Green, Wei Liu, Anthony Joseph Stentz, David McAllister Bradley, Samuel Philip Marden
  • Patent number: 11262756
    Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can generate constraints based on where objects of interest are predicted to be relative to an autonomous vehicle. A constraint solver can identify navigation decisions for each of the constraints that provide a consistent solution across all constraints. The solution provided by the constraint solver can be in the form of a trajectory path determined relative to constraint areas for all objects of interest. The trajectory path represents a set of navigation decisions such that a navigation decision relative to one constraint doesn't sacrifice an ability to satisfy a different navigation decision relative to one or more other constraints.
    Type: Grant
    Filed: August 8, 2018
    Date of Patent: March 1, 2022
    Assignee: UATC, LLC
    Inventors: Michael Lee Phillips, Don Burnette, Kalin Vasilev Gochev, Somchaya Liemhetcharat, Harishma Dayanidhi, Eric Michael Perko, Eric Lloyd Wilkinson, Colin Jeffrey Green, Wei Liu, Anthony Joseph Stentz, David McAllister Bradley, Samuel Philip Marden
  • Publication number: 20210114617
    Abstract: 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: Application
    Filed: September 8, 2020
    Publication date: April 22, 2021
    Inventors: Michael Lee Phillips, David McAllister Bradley, Utku Eren, Chenggang Liu, Daoyuan Jia, Eric Michael Perko, Samuel Philip Marden, Kalin Vasilev Gochev, Moslem Kazemi
  • Publication number: 20210080955
    Abstract: Systems and methods for vehicle motion planning based on uncertainty are provided. A method can include obtaining scene data descriptive of one or more objects within a surrounding environment of the autonomous vehicle. The method can include determining one or more subproblems based at least in part on the scene data. In some implementation, each of the one or more subproblems can correspond to at least one object within the surrounding environment of the autonomous vehicle. The method can include generating one or more branching policies based at least in part on the one or more subproblems. In some implementations, each of the one or more branching policies can include scene data associated with the autonomous vehicle and one or more objects within the surrounding environment of the autonomous vehicle. The method can include determining one or more costs associated each of the one or more branching policies.
    Type: Application
    Filed: December 13, 2019
    Publication date: March 18, 2021
    Inventors: Eric Lloyd Wilkinson, Michael Lee Phillips, David McAllister Bradley, Zakary Warren Littlefield, Aum Jadhav, Utku Eren, Samuel Philip Marden, Colin Jeffrey Green
  • 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
  • Publication number: 20190220015
    Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can generate constraints based on where objects of interest are predicted to be relative to an autonomous vehicle. A constraint solver can identify navigation decisions for each of the constraints that provide a consistent solution across all constraints. The solution provided. by the constraint solver can be in the form of a trajectory path determined relative to constraint areas for all objects of interest. The trajectory path represents a set of navigation decisions such that a navigation decision relative to one constraint doesn't sacrifice an ability to satisfy a different navigation decision relative to one or more other constraints.
    Type: Application
    Filed: August 8, 2018
    Publication date: July 18, 2019
    Inventors: Michael Lee Phillips, Don Burnette, Kalin Vasilev Gochev, Somchaya Liemhetcharat, Harishma Dayanidhi, Eric Michael Perko, Eric Lloyd Wilkinson, Colin Jeffrey Green, Wei Liu, Anthony Joseph Stentz, David McAllister Bradley, Samuel Philip Marden
  • Publication number: 20190220016
    Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a constraint solver determines a multi-dimensional space for each phase of a plurality of different phases of a lane change maneuver. For each different phase, objects of interest interacting with first and second lanes of the nominal path can be determined and constraints can be respectively generated. A portion of the multi-dimensional space including corresponding constraints that applies to a respective timeframe associated with each phase can be determined. The respective portions of the multi-dimensional space including corresponding constraints for each phase of the plurality of different phases of the lane change maneuver can be combined to generate a multiplexed space through which a low-cost trajectory path can be determined.
    Type: Application
    Filed: August 8, 2018
    Publication date: July 18, 2019
    Inventors: Michael Lee Phillips, Don Burnette, Kalin Vasilev Gochev, Somchaya Liemhetcharat, Harishma Dayanidhi, Eric Michael Perko, Eric Lloyd Wilkinson, Colin Jeffrey Green, Wei Liu, Anthony Joseph Stentz, David McAllister Bradley, Samuel Philip Marden
  • Publication number: 20190135290
    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: Application
    Filed: January 5, 2018
    Publication date: May 9, 2019
    Inventors: Samuel Philip Marden, Eric Michael Perko
  • Publication number: 20190061765
    Abstract: Systems and methods are directed to performing lane changes around a static or slow moving vehicle by an autonomous vehicle. In one example, a computer-implemented method for executing a lane change by an autonomous vehicle includes obtaining, by a computing system comprising one or more computing devices, an indication of an obstacle ahead of the autonomous vehicle in a current lane. The method further includes obtaining, by the computing system, an indication that the autonomous vehicle is likely to be queued behind the obstacle if staying in the current lane. The method further includes determining, by the computing system, that a lane change can be executed by the autonomous vehicle to move around the obstacle; and in response to determining that the lane change can be executed by the autonomous vehicle to move around the obstacle, generating a motion plan that executes the lane change.
    Type: Application
    Filed: October 6, 2017
    Publication date: February 28, 2019
    Inventors: Samuel Philip Marden, Eric Michael Perko