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1. 发明申请

US20230084702A1 SYSTEM AND METHOD OF ADAPTIVE, REAL-TIME VEHICLE SYSTEM IDENTIFICATION FOR AUTONOMOUS DRIVING 有权
公开(公告)号：US20230084702A1
公开(公告)日：2023-03-16
申请号：US17931435
申请日：2022-09-12
申请人： CYNGN, INC.
发明人： Biao MA , Lior TAL
IPC分类号： G05D1/00 , G05D1/02
摘要： A method may include obtaining localization information and control signal information relating to an autonomous vehicle (AV). The method may include computing first kinematic characteristics of the AV based on the localization information and the control signal information and generating a first vehicle model based on the first kinematic characteristics. The method may include determining one or more first control commands that provide instructions for actuating a driving operation of the AV. The first control commands may be determined based on the first vehicle model. The method may include simulating first movement of the AV according to the first control commands and the first vehicle model.

2. 发明申请

US20230040845A1 SYSTEM AND METHODS OF ADAPTIVE OBJECT-BASED DECISION MAKING FOR AUTONOMOUS DRIVING 有权
公开(公告)号：US20230040845A1
公开(公告)日：2023-02-09
申请号：US17817946
申请日：2022-08-05
申请人： CYNGN, INC.
发明人： Biao MA , Lior TAL
IPC分类号： B60W60/00 , B60W30/09
摘要： A method may include obtaining input information relating to an environment in which an autonomous vehicle (AV) operates, the input information describing at least one of: a state of the AV, an operation of the AV within the environment, a property of the environment, or an object included in the environment. The method may include identifying a first object in the vicinity of the AV based on the obtained input information. The method may include determining a first object rule corresponding to the first object, the first object rule indicating suggested driving behavior for interacting with the first object. The method may include determining a first decision that follows the first object rule and sending an instruction to a control system of the AV, the instruction describing a given operation of the AV responsive to the first object rule according to the first decision.

3. 发明申请

US20230025579A1 HIGH-DEFINITION MAPPING 有权
公开(公告)号：US20230025579A1
公开(公告)日：2023-01-26
申请号：US17814909
申请日：2022-07-26
申请人： CYNGN, INC.
发明人： Biao MA , Lior TAL
IPC分类号： G05D1/02
摘要： A method may include obtaining sensor data about a total measurable world around an autonomous vehicle. The sensor data may be captured by sensor units co-located with the autonomous vehicle. The method may include generating a mapping dataset including the obtained sensor data and identifying data elements that each represents a point in the mapping dataset. The method may include sorting the data elements according to a structural data categorization that is a template for a high-definition map of the total measurable world and determining a mapping trajectory of the autonomous vehicle. The mapping trajectory may describe a localization and a path of motion of the autonomous vehicle. The method may include generating the high-definition map based on the structural data categorization and relative to the mapping trajectory of the autonomous vehicle, and the high-definition map may be updated based on the path of motion of the autonomous vehicle.

4. 发明申请

US20230011829A1 MULTI-CHANNEL OBJECT MATCHING 有权
公开(公告)号：US20230011829A1
公开(公告)日：2023-01-12
申请号：US17811504
申请日：2022-07-08
申请人： CYNGN, INC.
发明人： Biao MA , Lior TAL
IPC分类号： G06V10/75 , G06V20/70 , G06V20/56 , G06V10/82 , G06T7/277 , G06V10/80
摘要： A method may include obtaining first sensor data captured by a first sensor system and second sensor data captured by a second sensor system of a different type from the first sensor system. The method may include detecting a first object included in the first sensor data and a second object included in the second sensor data. The method may include assigning a first label to the first object and a second label to the second object after comparing the first and the second sensor data. The first and second labels may indicate degrees to which the first and the second objects match. Responsive to the first and second labels indicating that the first and the second objects match, the method may include designating a matched object representative of the first object and the second object and sending the matched object to a downstream computing system of an autonomous vehicle.

5. 发明申请

US20230066189A1 SYSTEM AND METHOD OF ADAPTIVE DISTRIBUTION OF AUTONOMOUS DRIVING COMPUTATIONS 有权
公开(公告)号：US20230066189A1
公开(公告)日：2023-03-02
申请号：US17822389
申请日：2022-08-25
申请人： CYNGN, INC.
发明人： Biao MA , Lior TAL
IPC分类号： B60W50/06 , B60W60/00
摘要： A method may include obtaining sensor data relating to an autonomous vehicle (AV) and a total measurable world around the AV. The method may include identifying an operating environment of the AV and determining a projected computational load for computing subsystems that facilitate a driving operation performable by the AV corresponding to the identified environment. The method may include off-loading first computing subsystems of the computing subsystems in which computations of the first computing subsystems may be processed by an off-board cloud computing system and processing computations associated with second computing subsystems of the computing subsystems by an on-board computing system. The method may include obtaining first computational results corresponding to the computations processed relating to the first computing subsystems and determining the driving operation of the AV based on the first computational results and second computational results corresponding to computations processed relating to the second computing subsystems.

6. 发明授权

US11592565B2 Flexible multi-channel fusion perception 有权
公开(公告)号：US11592565B2
公开(公告)日：2023-02-28
申请号：US17811498
申请日：2022-07-08
申请人： CYNGN, INC.
发明人： Biao Ma , Lior Tal
IPC分类号： G01S17/86 , G01S17/89 , G01S17/931 , G06V10/80
摘要： A method may include obtaining first sensor data from a first sensor system and second sensor data from a second sensor system. The first and the second sensor systems may capture sensor data from a total measurable world. The method may include identifying a first object included in the first sensor data and a second object included in the second sensor data and determining first parameters corresponding to the first object and second parameters corresponding to the second object. The first parameters may be compared with the second parameters and whether the first object and the second object are a same object may be determined based on the comparing the first parameters and the second parameters. Responsive to determining that the first object and the second object are the same object, a set of objects representative of objects in the total measurable world including the same object may be generated.

7. 发明授权

US11555928B2 Three-dimensional object detection with ground removal intelligence 有权
公开(公告)号：US11555928B2
公开(公告)日：2023-01-17
申请号：US17808054
申请日：2022-06-21
申请人： CYNGN, INC.
发明人： Biao Ma , Lior Tal
IPC分类号： G06K9/40 , G01S17/89 , G01S17/931 , G01S7/487
摘要： A method may include obtaining sensor data from one or more LiDAR units and determining a point-cloud corresponding to the sensor data obtained from each respective LiDAR unit. The method may include aggregating the point-clouds as an aggregated point-cloud and generating an initial proposal for a two-dimensional ground model made of multiple grid blocks. The method may include filtering out unrelated raw data points from each grid block of the plurality of grid blocks to generate a filtered point-cloud matrix. The method may include identifying one or more surface-points and one or more object-points included in the filtered point-cloud matrix and generating an array of extracted objects based on the object-points.

8. 发明申请

US20220404478A1 SELF-ADAPTIVE LIDAR-CAMERA SYNCHRONIZATION SYSTEM 有权
公开(公告)号：US20220404478A1
公开(公告)日：2022-12-22
申请号：US17808055
申请日：2022-06-21
申请人： CYNGN, INC.
发明人： Biao Ma , Lior Tal
IPC分类号： G01S7/497 , G01S17/86 , G01S17/931 , H04N5/232 , G01S7/4913 , H04L7/00
摘要： A method may include determining an alignment time based on a zero-crossing point corresponding to a LiDAR sensor and a horizontal field of view corresponding to an image-capturing sensor. The method may include determining a delay timing for initiating image capturing by the image-capturing sensor in which the delay timing is based on at least one of: the alignment time, a packet capture timing corresponding to the LiDAR sensor, and an average frame exposure duration corresponding to the image-capturing sensor. The method may include initiating data capture by the LiDAR sensor, and after the initiating of data capture by the LiDAR sensor and after the delay timing has elapsed, initiating data capture by the image-capturing sensor.

9. 发明授权

US11186234B2 Vehicle sensor systems 有权
公开(公告)号：US11186234B2
公开(公告)日：2021-11-30
申请号：US16653725
申请日：2019-10-15
申请人： CYNGN, INC.
发明人： Ain McKendrick , Michael W. Lowe , Andrea Mariotti , Pranav Bajoria , Akash Joshi
IPC分类号： H04N5/225 , G01S7/48 , B60R19/48 , B60R11/04 , G01S7/481 , G01S7/521 , B60R11/00
摘要： Vehicle sensor systems include modular sensor kits having one or more pods (e.g., sensor roof pods) and/or one or more bumpers (e.g., sensor bumpers). The sensor roof pods are configured to couple to a vehicle. A sensor roof pod may be positioned atop a vehicle proximate a front of the vehicle, proximate a back of the vehicle, or at any position along a top side of the vehicle being coupled, for example, using a mounting shim or a tripod. The sensor roof pods can include sensors (e.g., LIDAR sensors, cameras, ultrasonic sensors, etc.), processing units, control systems (e.g., temperature and/or environmental control systems), and communication devices (e.g., networking and/or wireless devices).

10. 发明申请

US20230117019A1 SYSTEM AND METHOD OF SAME-LOOP ADAPTIVE SIMULATION FOR AUTONOMOUS DRIVING 有权
公开(公告)号：US20230117019A1
公开(公告)日：2023-04-20
申请号：US18047951
申请日：2022-10-19
申请人： CYNGN, INC.
发明人： Biao MA , Lior TAL
IPC分类号： B60W50/06 , B60W60/00 , B60W40/10 , G05B17/02
摘要： A method may include obtaining, by an autonomous driving system, input information relating to an autonomous vehicle (AV). The method may include determining, by the autonomous driving system, one or more driving signals that describe operations of the AV. The method may include instructing the AV to move according to the driving signals and simulating, by a virtual driving system, movement of the AV based on the driving signals, wherein the simulating the movement of the AV occurs concurrently with the AV moving according to the driving signals as instructed.

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