US 11,654,917 B2
Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle
Warren Smith, McKees Rocks, PA (US); Ethan Eade, Pittsburgh, PA (US); Sterling J. Anderson, Sunnyvale, CA (US); James Andrew Bagnell, Pittsburgh, PA (US); Bartholomeus C. Nabbe, Palo Alto, CA (US); and Christopher Paul Urmson, Los Altos, CA (US)
Assigned to AURORA OPERATIONS, INC., Mountain View, CA (US)
Filed by Aurora Innovation, Inc., Palo Alto, CA (US)
Filed on Dec. 28, 2020, as Appl. No. 17/135,171.
Application 17/135,171 is a continuation of application No. 16/173,660, filed on Oct. 29, 2018, granted, now 10,906,536.
Claims priority of provisional application 62/655,965, filed on Apr. 11, 2018.
Prior Publication US 2021/0146932 A1, May 20, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 40/04 (2006.01); B60W 30/095 (2012.01); G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06N 20/00 (2019.01); G01S 17/931 (2020.01); G01S 17/89 (2020.01); G06F 18/214 (2023.01); G06F 18/21 (2023.01)
CPC B60W 40/04 (2013.01) [B60W 30/0956 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G05D 1/0088 (2013.01); G05D 1/024 (2013.01); G06F 18/214 (2023.01); G06F 18/2178 (2023.01); G06N 20/00 (2019.01); B60W 2554/4041 (2020.02); B60W 2554/803 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, from a phase coherent Light Detection and Ranging (LIDAR) component of a vehicle, a group of LIDAR data points of a sensing cycle of the phase coherent LIDAR component,
each of the LIDAR data points of the group indicating a corresponding instantaneous range and a corresponding instantaneous velocity for a corresponding point in an environment of the vehicle, and each of the LIDAR data points of the group being generated based on a corresponding sensing event of the phase coherent LIDAR component during the sensing cycle;
determining that a subgroup, of the LIDAR data points of the group, corresponds to a dynamic object in the environment;
based on determining that the subgroup corresponds to the dynamic object:
determining an instantaneous yaw parameter of the dynamic object based on a plurality of the corresponding instantaneous velocities of the LIDAR data points of the subgroup; and
adapting autonomous control of the vehicle based on the determined instantaneous yaw parameter of the dynamic object.