US 12,448,009 B2
Perception and understanding of vehicles
Navaneeth Bodla, Redwood City, CA (US); Sachithra Hemachandra, Sunnyvale, CA (US); Gia Tri Nguyen, Kirkland, WA (US); Shuai Zheng, Santa Clara, CA (US); Ajaya Hanasoge Shankaranarayana Rao, Sunnyvale, CA (US); and Xiao Zhang, Los Altos, CA (US)
Assigned to GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on May 31, 2023, as Appl. No. 18/326,834.
Prior Publication US 2024/0400109 A1, Dec. 5, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); G06V 10/764 (2022.01); G06V 20/58 (2022.01)
CPC B60W 60/0027 (2020.02) [G06V 10/764 (2022.01); G06V 20/58 (2022.01); B60W 2554/402 (2020.02); B60W 2554/4046 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
sensors;
one or more processors; and
one or more storage media encoding instructions executable by the one or more processors to implement an understanding part, wherein the understanding part includes:
a main understanding model to classify a tracked object into at least one of: one or more road user classifications and a vehicle classification; and
a sub-model to output inferences for a plurality of task groups, the sub-model including:
a shared backbone to receive and process sensor data generated from the sensors corresponding to tracked objects having the vehicle classification;
one or more temporal networks dedicated to one or more task groups; and
heads to output inferences for the respective task groups, wherein the inferences include one or more vehicle subtype classifications and one or more vehicle attributes,
wherein the vehicle further includes a planning part configured to plan a trajectory of the vehicle based on the inferences generated by the heads, and a controls part configured to execute the planned trajectory by controlling one or more mechanical systems of the vehicle.