US 12,358,524 B2
Perception system for an autonomous vehicle
Nemanja Djuric, Pittsburgh, PA (US); Shivam Gautam, Austin, TX (US); Peter M. Kingston, Pittsburgh, PA (US); and Chi-Kuei Liu, San Mateo, CA (US)
Assigned to AURORA OPERATIONS, INC., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Mountain View, CA (US)
Filed on Sep. 27, 2022, as Appl. No. 17/953,591.
Prior Publication US 2024/0103522 A1, Mar. 28, 2024
Int. Cl. B60W 60/00 (2020.01); G06V 10/82 (2022.01)
CPC B60W 60/001 (2020.02) [G06V 10/82 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method, comprising:
obtaining sensor data descriptive of an actor in an environment of an autonomous vehicle and (i) at least a portion of the environment of the autonomous vehicle that does not include the actor, the sensor data comprising at least one sweep of the environment of the autonomous vehicle;
processing the sensor data with a machine-learned perception model to generate a detection of the actor and one or more predicted future velocities;
aligning, by a machine-learned object tracker model, the one or more predicted future velocities to a motion model respective to a class of the actor to generate one or more second velocity outputs;
determining a motion trajectory for the autonomous vehicle based at least in part on the one or more second velocity outputs; and
controlling the autonomous vehicle based at least in part on the motion trajectory.