Aptiv Technologies Limited

Delphi Technologies, Inc.

Aptiv Technologies Ag

Motional Ad LLC

Michael H Laur

Nandita Mangal

Brian R Hilnbrand

Divya Agarwal

John P Absmeier

Serge Lambermont

Indu Vijayan

Matthew J Lewis

Mohamed A Moawad

Ludong Sun

Krzysztof Kogut

Kai Zhang

Jakub Porebski

Amith Somanath

Nanhu Chen

Aron Sommer

Aniello Sorrentino

Divya Balachandran

Alexander Ioffe

Uri Iurgel

Keerthi Raj Nagaraja

Ronald J Szabo

Ryan S Middleton

Ceyhan Karabulut

Damjan Karanovic

Jonathan L Wieskamp

Tory Smith

Branka Jokanovic

William Snyder

Wu Dun

Miao Yan

Colton Gorman Stearns

Nilesh Gupta

Sun Ludong

This document describes techniques and systems to detect and localize NLOS objects using multipath radar reflections and map data. In some examples, a processor of radar system can identify a detection of an object using reflected EM energy and determine, using map data, whether a direct-path reflection associated with the detection is within a roadway. In response to determining that the direct-path reflection is not located within the roadway, the processor can determine whether a multipath reflection (e.g., a multipath range and multipath angle) associated with the detection is viable. In response to determining that the multipath reflection is viable, the processor can determine that the detection corresponds to an NLOS object. The processor can also provide the NLOS object as an input to an autonomous or semi-autonomous driving system of the vehicle, thereby improving the safety of such systems.

Detection and localization of non-line-of-sight objects using multipath radar reflections and map data

A system for gathering perception-data includes a transceiver and a controller-circuit. The transceiver is for installation on a host-vehicle. The transceiver is configured to receive perception-data from a perception-sensor installed on an assisting-vehicle proximate to the host-vehicle. The controller-circuit is in communication with the transceiver. The controller-circuit is configured to determine a preferred-perspective for gathering perception-data by the perception-sensor of the assisting-vehicle, and operate the transceiver to transmit a path-request to the assisting-vehicle that changes a planned-path of the assisting-vehicle to move the perception-sensor of the assisting-vehicle to the preferred-perspective.

Vehicle perception-data gathering system and method

This document describes methods and systems for vehicle localization based on radar detections. Radar localization starts with building a radar reference map. The radar reference map may be generated and updated using different techniques as described herein. Once a radar reference map is available, real-time localization may be achieved with inexpensive radar sensors and navigation systems. Using the techniques described in this document, the data from the radar sensors and the navigation systems may be processed to identify stationary localization objects, or landmarks, in the vicinity of the vehicle. Comparing the landmark data originating from the onboard sensors and systems of the vehicle with landmark data detailed in the radar reference map may generate an accurate pose of the vehicle in its environment. By using inexpensive radar systems and lower quality navigation systems, a highly accurate vehicle pose may be obtained in a cost-effective manner.

Vehicle localization based on radar detections

Methods and systems are described that enable radar reference map generation. A high-definition (HD) map is received and one or more HD map objects within the HD map are determined. Attributes of the respective HD map objects are determined, and, for each HD map object, one or more occupancy cells of a radar occupancy grid are indicated as occupied space based on the attributes of the respective HD map object. By doing so, a radar reference map may be generated without a vehicle traversing through an area corresponding to the radar reference map.

Radar reference map generation

An illustrative example embodiment of a system for controlling a vehicle includes at least one sensor configured to detect at least one localization reference and at least one processor configured to determine a location of the vehicle with a first precision based on an indication from the at least one sensor while the vehicle is traveling in a first lane of a roadway. The processor is configured to determine that at least one characteristic of the first precision is below a threshold and, based on the at least one characteristic being below the threshold, maneuver the vehicle to a second lane of the roadway.

Vehicle route modification to improve vehicle location information

An advanced driver assistance system (ADAS) and method for a vehicle include a light intensity detection system configured to detect a set of light density changes proximate to a face of a driver of the vehicle, a vehicle-to-everything (V2X) communication system, a global navigation satellite system (GNSS) system, and a controller configured to detect a current glare condition based on the set of detected light density changes from the light intensity detection system, share, using the V2X communication system, the detected current glare condition and the corresponding GNSS location, based on the sharing and another set of parameters, determine whether the vehicle is likely to experience a future glare condition during a future period, and in response to determining that the vehicle is likely to experience the future glare condition during the future period, at least one remedial action.

Driver temporary blindness early warning and avoidance recommendation system

Methods and systems are described that enable vehicle routing based on availability of radar-localization objects. A request to navigate to a destination is received, and at least two possible routes to the destination are determined. Availabilities of radar-localization objects for the possible routes are determined, and a route is selected based on the availabilities of the radar-localization objects. Furthermore, while traveling along a route, the vehicle is localized based on radar detections of radar-localization objects. A radar-localization quality of the localizing is monitored, and a determination is made that the radar-localization quality has dropped or will drop. Based on the radar-localization quality dropping, the route is modified and/or an operation of a radar module is adjusted. In this way, availabilities of radar-localization objects may be used to select an optimal route and to adjust a current navigation along a route to minimize driver takeover.

Vehicle routing based on availability of radar-localization objects

A radar-data collection system a radar, a camera, and a controller-circuit. The radar and the camera are intended for mounting on a host-vehicle. The radar is configured is to indicate a radar-profile of an object detected by the radar. The camera is configured to render an image of the object. The controller-circuit is in communication with the radar and the camera. The controller is configured to determine an identity of the object in accordance with the image, and annotate the radar-profile in accordance with the identity.

Annotation of radar-profiles of objects

A system for an automated-taxi includes a display and a controller. The display is viewable by one or more of a plurality of clients of an automated-taxi. The controller-circuit is in communication with the display. The controller is configured to determine a seating-arrangement of the plurality of clients transported by the automated-taxi. The seating-arrangement is determined in accordance with destinations of the plurality of clients. The controller is also configured to operate the display to show the seating-arrangement to one or more of the plurality of clients. A method of operating an automated-taxi includes receiving destinations of a plurality of clients to transported by an automated-taxi; determining a seating-arrangement of the plurality of clients in accordance with the destinations; and operating a display viewable by one or more of a plurality of clients of an automated-taxi to show the seating-arrangement to one or more of the plurality of clients.

Assigned seating system for an automated taxi

A vehicle navigation system includes a camera and a controller. The camera is configured to render an image of a host-vehicle in a field-of-view of the camera. The camera located remote from the host-vehicle. The controller is installed on the host-vehicle. The controller is configured to receive the image and determine a vehicle-coordinate of the host-vehicle in accordance with a position of the host-vehicle in the image. The camera may be configured to superimpose gridlines on the image, and the controller may be configured to determine the position in accordance with the gridlines.

Vehicle navigation system and method

A system for operating an automated-taxi includes a perception-sensor, a communication-device, and a controller-circuit. The perception-sensor is operable to determine a location of an object aboard an automated-taxi. The communication-device is operable to communicate with a client of the automated-taxi. The controller-circuit is in communication with the perception-sensor and the communication-device. The controller-circuit is configured to determine that the location of the object is not in compliance with an operational-requirement of the automated-taxi based on signals or information from the perception-sensor, and operate the communication-device to send a message that indicates the client will be charged a fee for failing to re-locate the object so that the location of the object is in compliance with the operational-requirement of the automated-taxi.

System and method to charge a penalty fee to an uncooperative client of an automated-taxi

A system for keeping an automated-taxi clean includes a perception-sensor, a communication-device, and a controller-circuit. The perception-sensor is operable to detect an object aboard an automated-taxi. The communication-device is operable to communicate with a present-client of the automated-taxi. The controller-circuit is in communication with the perception-sensor and the communication-device. The controller-circuit is configured to determine that the object was left by a prior-client of the automated-taxi, and operate the communication-device to convey to the present-client a cleaning-request to remove the object from the automated-taxi.

System and method for keeping an automated-taxi clean

A system for operating an automated-taxi includes an input-device and a controller-circuit. The input-device is operable by a client to indicate a desired-destination of the client. The display is viewable by the client. The controller-circuit is in communication with the input-device and the display. The controller-circuit is configured determine a preferred-route in accordance with the desired-destination and a plurality of other-destinations indicated by a plurality of other-clients of an automated-taxi. The preferred-route includes an alternate-destination for the client. The alternate-destination characterized as within a distance-threshold of the desired-destination of the client. The controller-circuit is further configured to operate the display to request a route-approval from the client for the alternate-destination, and, in response to receiving the route-approval, operate the automated-taxi in accordance with the preferred-route to transport the client to the alternate-destination.

Automated-taxi that proposes alternate-destination to optimize route

A control system for an automated vehicle includes a receiver, an alert-device, and a controller-circuit. The receiver is configured to receive a report of a takeover-event broadcast by another-vehicle at a location, said takeover-event characterized by an other-operator of the other-vehicle engaging a manual-mode of operation of the other-vehicle at the location while the other-vehicle was being operated in an automated-mode. The alert-device is operable to notify a host-operator of a host-vehicle. The controller-circuit is in communication with the receiver and the alert-device. The controller-circuit is configured to, in response to a determination that the host-vehicle is approaching the location, operate the alert-device to notify the host-operator of the host-vehicle about the takeover-event by the other-operator of the other-vehicle at the location.

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Mission Viejo, CA, United States of America

Michael H Laur