Patent ID: 11960290
Assignee: UATC, LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC G

Claim 17:
18. An autonomous vehicle, comprising:
one or more LIDAR sensors configured to obtain sweeps of LIDAR data;
one or more radar sensors configured to obtain sweeps of radar data; and
a computing system, comprising:
one or more processors;
a memory comprising one or more tangible non-transitory computer-readable media, the media storing computer-readable instructions that when executed by the one or more processors cause the one or more processors to perform operations comprising:
obtaining, from the one or more LIDAR sensors, LIDAR data comprising one or more sweeps;
obtaining, from the one or more radar sensors, radar data comprising one OF more sweeps;
obtaining map data associated with the LIDAR data and the radar data;
inputting the LIDAR data, the radar data, and the map data into a network model comprising one or more machine-learned models;
generating, by the network model, one or more features for each of the LIDAR data, the radar data, and the map data, wherein generating the one or more features for the radar data comprises determining a feature vector for each cell in a coordinate frame and concatenating per sweep feature vectors for each cell;
combining, by the network model, the one or more generated features for each of the LIDAR data, the radar data, and the map data to generate fused feature data;
generating, by the network model, prediction data based at least in part on the fused feature data;
receiving, as an output of the network model, the prediction data, the prediction data comprising a respective predicted trajectory for a future time period for one or more detected objects;
determining a motion plan based at least in part on the respective predicted trajectory for the one or more detected objects; and
controlling the autonomous vehicle based at least in part on the motion plan.