3D Intersection Structure Prediction for Autonomous Driving Applications

Abstract

In various instances, a deep neural network (DNN) may be used to predict three-dimensional (3D) intersection structures based on processing two-dimensional (2D) input data. To train a DNN to accurately predict 3D intersection structures from 2D inputs, the DNN may be trained using a first loss function that compares the DNN's 3D output—after transformation into 2D space—to 2D ground truth data, and a second loss function that analyzes the DNN's 3D predictions taking into account one or more geometric constraints—for example, knowledge of the intersection's geometry may be used to penalize DNN predictions that do not match the geometry of known intersections and / or road structures. As such, the live perception of an autonomous or semi-autonomous vehicle may be used by the DNN to detect the 3D location of intersection structures from 2D inputs.

Description

[Background technology]

[0001] Autonomous driving systems and advanced driver assistance systems (ADAS) may utilize sensors such as cameras to perform various tasks, such as lane keeping, lane changing, lane designation, camera calibration, turning, path planning, and localization. For example, in order for autonomous and ADAS systems to operate independently and efficiently, a real-time or near-real-time understanding of the vehicle's surroundings may be achieved. This understanding may include information about the location of objects, obstacles, lanes, and / or intersections in the environment relative to various demarcations, such as lanes, road boundaries, intersection lines, and / or the like. Information about the surrounding environment may be used by the vehicle when making decisions, such as which path or trajectory to follow.

[0002] As an example, information about the location and layout of intersections within an autonomous or semi-autonomous vehicle's environment may prove useful when making decisions for route planning, obstacle avoidance, and / or control—e.g., where to stop, which path to use to safely cross an intersection, where other vehicles or pedestrians may be present, and / or the like. Information about intersection location and layout is particularly important when the vehicle is operating in urban and / or semi-urban driving environments, where intersection scene understanding and route planning are essential due to the increased number of variables compared to highway driving environments. For example, when a vehicle makes a left turn at an intersection in a two-way, multi-lane driving environment, determining the location and direction of other lanes, as well as determining the location of pedestrian crossings or bike paths, is essential for safe and efficient autonomous and / or semi-autonomous driving.

[0003] In conventional systems, intersections may be interpolated from a pre-stored high-definition (HD) three-dimensional (3D) map of the vehicle's driving surface. For example, the structure and orientation of the intersection and its surrounding area may be gleaned from the HD map. However, using the HD map for intersection identification and navigation requires that each intersection the vehicle may encounter be pre-identified and recorded in the HD map, which is a time-consuming and labor-intensive task. For example, the map update process may become more logistically complex if larger geographic areas (e.g., cities, states, countries) need to be manually labeled to enable vehicles to operate independently and efficiently in various regions.

[0004] Other conventional systems can train deep neural networks (DNNs) to predict intersection information in two-dimensional (2D) image space and then convert these predictions to 3D world space coordinates. However, 2D-to-3D coordinate conversion is inherently inaccurate because it requires a flat-ground assumption. Many roads—especially in more urban environments—are not flat, and 2D predictions may not map accurately to 3D world space without considering the slope or gradient of the driving surface. To account for this, some DNNs are trained to predict intersection information in 3D world space using 3D ground truth data. However, generating a sufficient amount of accurate and reliable 3D ground truth data (e.g., from LIDAR data) to effectively train a DNN is expensive, and annotating LIDAR data to generate ground truth information is a difficult task. For example, identifying intersection lines, boundaries, and / or other information from LIDAR point clouds is unreliable and requires extensive human labeling and annotation for each instance of the training data. As a result, the end-to-end training process for these traditional DNNs takes a significant amount of time, which can result in inaccurate DNNs that take time to optimize for deployment in vehicles. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] U.S. Patent Application No. 16 / 848,102 [Patent Document 2] U.S. Patent Application No. 16 / 911,007 [Patent Document 3] U.S. Patent Application No. 16 / 814,351 Summary of the Invention [Means for solving the problem]

[0006] Embodiments of the present disclosure relate to three-dimensional (3D) intersection structure prediction for autonomous driving applications. Systems and methods are disclosed that use deep neural networks (DNNs) to predict 3D intersection structures in world space—e.g., entry lines, exit lines, pedestrian crossings, bicycle lanes, etc.—from two-dimensional (2D) image data in image space. As such, in contrast to conventional approaches, the present systems and methods provide techniques for DNNs to detect the 3D locations of intersection structures from 2D input data using the live perception capabilities of a sensor platform and leverage this information to generate paths for, for example, vehicles or machines, to navigate the intersection. This approach improves scalability for processing various types of intersections without the burden of manually labeling each intersection individually for HD map generation, the inaccuracies introduced by calculating 3D intersection structures from 2D perception results using flat-ground assumptions, and the challenges of generating and accurately labeling LIDAR point clouds for 3D ground truth generation. In some embodiments, live perception techniques may be performed in combination with map-based techniques to provide redundancy and further validate the results of perception-based techniques—for example, when high-quality map data is available.

[0007] For example, to train a DNN to accurately predict 3D intersection structures from 2D images, the DNN can be trained using a first loss function corresponding to 2D ground truth data and a second loss function corresponding to 3D geometric consistency. The first loss function may compare the DNN's 3D output—after transforming it into 2D image space using intrinsic and / or extrinsic sensor parameters—to the 2D ground truth data. The second loss function may analyze the DNN's 3D predictions taking into account one or more geometric constraints. For example, geometric knowledge of the intersection can be used to penalize DNN predictions that do not match the known geometry. As such, if the DNN's 3D output is not smooth—e.g., because quantum leaps are impossible in the physical 3D real world—the output can be penalized. As another example, a straightness constraint can be imposed such that predictions of an intersection's approach or exit lines that are not straight—or within some threshold of being straight—are penalized. Additionally, lane width constraints may be imposed to penalize predictions that fall outside some threshold range of lane widths, forcing the DNN's output to fall within a range of known lane width possibilities. As such, the DNN, once trained and deployed in a vehicle, can accurately predict 3D intersection structures from 2D sensor data.

[0008] The present system and method for three-dimensional (3D) intersection structure prediction for autonomous driving applications is described in detail below with reference to the accompanying drawings. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is an example data flow diagram illustrating an example process for training a neural network to detect intersections, according to some embodiments of the present disclosure. [Figure 2A]10 is an illustration of exemplary annotations for generating ground truth data for training a neural network to detect intersections, according to some embodiments of the present disclosure. [Figure 2B] 10 is an illustration of exemplary annotations for generating ground truth data for training a neural network to detect intersections, according to some embodiments of the present disclosure. [Figure 3A] 10 is an illustration of exemplary annotations for generating ground truth data for training a neural network to detect intersections, according to some embodiments of the present disclosure. [Figure 3B] 10 is an illustration of exemplary annotations for generating ground truth data for training a neural network to detect intersections, according to some embodiments of the present disclosure. [Figure 4] 1 is an illustrative illustration of converting from a 3D projection to two-dimensional (2D) space for training a neural network, according to some embodiments of the present disclosure. [Figure 5] 1 is a flow diagram illustrating an example method for training a neural network to detect intersections, according to some embodiments of the present disclosure. [Figure 6A] 1 is a data flow diagram illustrating an example process for detecting intersection structures in 3D world space using neural networks, according to some embodiments of the present disclosure. [Figure 6B] 1 is an illustration of an exemplary neural network for use in calculating intersection structure, according to some embodiments of the present disclosure. [Figure 7] 1 is a flow diagram illustrating an example method for detecting intersection structures in a 3D world space using a neural network, according to some embodiments of the present disclosure. [Figure 8A] 1 is an illustration of an exemplary autonomous vehicle, according to some embodiments of the present disclosure. [Figure 8B] 8B is an illustration of camera positions and fields of view for the example autonomous vehicle of FIG. 8A, according to some embodiments of the present disclosure. [Figure 8C] FIG. 8B is a block diagram of an example system architecture of the example autonomous vehicle of FIG. 8A, in accordance with some embodiments of the present disclosure. [Figure 8D] FIG. 8B is a system diagram of communication between a cloud-based server and the example autonomous vehicle of FIG. 8A, according to some embodiments of the present disclosure. [Figure 9] FIG. 1 is a block diagram of an example computing device suitable for use in implementing some embodiments of the present disclosure. [Figure 10] FIG. 1 is a block diagram of an exemplary data center suitable for use in implementing some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Systems and methods for three-dimensional (3D) intersection structure prediction for autonomous driving applications are disclosed. The present disclosure may be described with reference to an exemplary autonomous vehicle 800 (alternatively referred to as “vehicle 800” or “ego vehicle 800,” examples of which are described with reference to FIGS. 8A-8D ), but this is not intended to be limiting. For example, the systems and methods described herein may be used by, without limitation, non-autonomous vehicles, semi-autonomous vehicles (e.g., in one or more adaptive driver assistance systems (ADAS)), piloted and non-piloted robots or robotic platforms, warehouse vehicles, off-road vehicles, airships, boats, shuttles, emergency response vehicles, motorcycles, electric or mopeds, aircraft, construction vehicles, submarines, drones, and / or other vehicle types. Additionally, while the present disclosure may be described with respect to intersection structures in vehicular applications, this is not intended to be limiting, and the systems and methods described herein may be used in augmented reality, virtual reality, robotics, security and surveillance, autonomous or semi-autonomous machine applications, and / or any other technology space where detection of intersection or other environmental structures and / or poses may be used.

[0011] In deployment, sensor data (e.g., 2D images, video, etc.) may be received and / or generated using sensors (e.g., cameras, RADAR sensors, LIDAR sensors, etc.) located or otherwise disposed on an autonomous or semi-autonomous vehicle. The sensor data may be applied to a neural network (e.g., a deep neural network (DNN) such as a convolutional neural network (CNN)) trained to identify areas of interest related to road signs, road boundaries, intersections, and / or the like (e.g., raised road markings, rumble strips, colored lane dividers, sidewalks, crosswalks, side streets, etc.) represented by the sensor data, as well as semantic and / or directional information associated therewith. More specifically, a DNN can be trained to compute 3D intersection poses from two-dimensional (2D) input data (e.g., an image, range image, or other 2D sensor data representation) that includes one or more key points corresponding to line segments defining the 3D intersection pose, and to generate output that identifies semantic information (e.g., crosswalk, crosswalk entry, crosswalk exit, intersection entry, intersection exit, etc., or combinations thereof) and / or other information corresponding to the key points and / or line segments generated therefrom. In some instances, the computed key points may be intersection features such as pedestrian crossing (e.g., crosswalk) entry lines, intersection entry lines, intersection exit lines, stop lines, bicycle lanes, and / or pedestrian crossing exit lines, or 3D world space locations where center points and / or endpoints of line segments are located. As such, the 3D structure and pose of the intersection may be determined using key points, line segments, and / or associated (e.g., semantic) information, and the 3D structure may include representations of lanes, lane types, key points, line segments, crosswalks, directionality, heading, and / or other information corresponding to the intersection.

[0012] During training, the DNN may be trained using 2D images or other sensor data representations labeled or annotated with line segments representing lanes, crosswalks, oncoming lanes, outgoing lanes, bicycle lanes, intersection areas, etc., and may further include corresponding semantic information. In some instances, key points may be labeled to include lane corners or endpoints (e.g., line segments representing lane segments in an intersection structure), which may be inferred from center points and / or width information. As a result, the intersection structure may be encoded using these key points and / or line segments, requiring only limited labeling, since the information can be determined using the line segment annotations and semantic information. In some instances, the ground truth of a 2D intersection structure may be defined by a set of polygons corresponding to potential areas of interest within the intersection and their corresponding semantic information (e.g., inside the intersection, outside the intersection, etc.). The labeled line segments and semantic information may then be used to compare—e.g., using a loss function—with the computed output of the DNN (e.g., after transformation from 3D world space to 2D image space).

[0013] To train a DNN to predict 3D intersection structures from 2D input images, the DNN's 3D intersection structure predictions can be projected into 2D image space—for example, using intrinsic and / or extrinsic parameters of the sensor that generated the 2D image. A loss function can then be used to measure the distance between the pixels of the 2D intersection ground truth data and the 2D projection of the 3D prediction. This distance can be minimized using the loss function to improve the accuracy or precision of the DNN. As such, the DNN can be trained to learn a mapping between the 2D image and the 3D intersection structure in world space.

[0014] Additionally, one or more 3D geometric consistency constraints can be applied to the DNN's 3D predictions—e.g., via a loss function—to train the DNN to more accurately predict 3D intersection structures by taking the geometric constraints into account. Knowledge of real-world intersections and their designs can be used to determine the 3D geometric consistency constraints. For example, smoothness constraints, straightness constraints, and / or statistical variability of lane widths can be used as geometric constraints for evaluating the DNN's output. A loss function corresponding to the 3D geometric consistency constraints can be used to penalize outputs that do not match these constraints. In that case, the total loss can include the loss of 3D geometric consistency and the loss of 2D ground truth. To accurately and efficiently predict 3D intersection structures based on 2D image inputs, the DNN can be trained to minimize the total loss.

[0015] Once the DNN is trained, it can predict outputs in 3D world space that correspond to line segments, key points, intersection areas, 3D intersection structures, and / or other outputs that correspond to the 2D input data. In some embodiments, the 3D locations of the key points can be determined as one or more endpoints of each line segment, center points of predicted line segments, or a combination thereof. The 3D locations of these key points can then be used—for example, by a post-processor—to construct a 3D intersection structure for use by a vehicle when navigating or traversing the intersection.

[0016] In some embodiments, once the 3D locations of the key points are determined, any number of additional post-processing operations may be performed to ultimately "connect the dots" (or key points) and generate a path for navigating the intersection. For example, the key points may be connected to generate a polyline representing a potential path for traversing the intersection. The final path may be assigned a path type, which may be determined relative to the vehicle's location, the key point locations, and / or the like. Potential, non-limiting path types include left turns, right turns, lane switches, and / or lane continuations. Curve fitting may also be implemented to determine a final shape that most accurately reflects the natural driving curve of the potential path. Curve fitting may be performed using polyline fitting, polynomial fitting, clothoid fitting, and / or other types of curve fitting algorithms. The shape of the potential path may be determined based on the location, heading vector (e.g., angle), semantic information, and / or other information related to the connected key points. The curve fitting process may be repeated for all key points that can potentially be connected to each other to generate all possible paths that a vehicle can take to navigate an intersection. In some instances, infeasible paths may be eliminated from consideration based on traffic regulations and physical limitations associated with such paths.

[0017] In some embodiments, a matching algorithm may be used to connect the key points and generate potential paths for a vehicle to navigate through an intersection. In such instances, a matching score may be determined for each pair of key points based on the key point locations, heading vectors, semantic information, and / or the shape of the approximation curve between the pair of key points. In some instances, a linear matching algorithm, such as the Hungarian matching algorithm, may be used. In other instances, a nonlinear matching algorithm, such as a spectral matching algorithm, may be used to connect the pairs of key points.

[0018] In either instance, once a path through an intersection is determined, this information can be used to perform one or more actions by the vehicle. For example, a world model manager can update the world model to assist in navigating the intersection, a path planning layer of an autonomous driving software stack can use the intersection information to determine a path through the intersection (e.g., along one of the determined potential paths), and / or a control component can determine control of the vehicle to navigate the intersection according to the determined path.

[0019] Training a DNN to compute 3D intersection structures Referring to FIG. 1, FIG. 1 is an example data flow diagram illustrating an example process 100 for training a deep neural network (DNN) 104 to detect intersections, according to some embodiments of the present disclosure. It should be understood that this and other arrangements described herein are merely illustrative. Other arrangements and elements (e.g., machines, interfaces, functions, sequences, groupings of functions, etc.) may be used in addition to or instead of those shown, and some elements may be omitted altogether. Furthermore, many of the elements described herein are functional entities that may be implemented as separate or distributed components or in conjunction with other components, and in any suitable combination and location. Various functions described herein as being performed by entities may be implemented by hardware, firmware, and / or software. For example, various functions may be implemented by a processor executing instructions stored in a memory. In some embodiments, training a neural network according to process 100 may be implemented, at least in part, using components, features, and / or functions similar to those described herein with respect to the example computing device 900 of FIG. 9 and / or the example data center 1000 of FIG. 10.

[0020] The process 100 may include generating and / or receiving sensor data 102 from one or more sensors. The sensor data 102 may be received from one or more sensors of a vehicle (e.g., vehicle 800 of FIGS. 8A-8C described herein, by way of non-limiting example). The sensor data 102 may be used by the vehicle within the process 100 to train one or more DNNs 104 to detect 3D intersections at least in part from 2D input data (e.g., camera images). During training, the sensor data 102 may be generated using one or more data collection vehicles that generate sensor data for training a DNN, such as the DNN 104, and / or may be pre-generated and included in a training data set. The sensor data 102 used during training may additionally or alternatively be generated using simulated sensor data (e.g., sensor data generated using one or more virtual sensors of a virtual vehicle in a virtual environment). Once trained and deployed within the vehicle 800, sensor data 102 generated by one or more sensors of the vehicle 800 can be processed by the DNN 104 to calculate 3D intersection structure, semantic information, and / or directional information corresponding to the intersection.

[0021] As such, sensor data 102 may include, for example, with reference to FIGS. 8A-8C , sensor data 102 from any of the vehicle's sensors, including, but not limited to, RADAR sensor 860, ultrasonic sensor 862, LIDAR sensor 864, stereo camera 868, wide-view camera 870 (e.g., fisheye camera), infrared camera(s) 872, surround camera 874 (e.g., 360-degree camera), long-range and / or mid-range camera 878, and / or other sensor types. As another example, sensor data 102 may include virtual (e.g., simulated or augmented) sensor data generated from any number of sensors of a virtual vehicle or other virtual object within a virtual (e.g., testing) environment. In such an example, the virtual sensors may correspond to a virtual vehicle or other virtual object within a simulated environment (e.g., used to test, train, and / or validate neural network performance), and the virtual sensor data may represent sensor data captured by the virtual sensors within the simulated or virtual environment. As such, by using virtual sensor data, the DNNs 104 described herein may be tested, trained, and / or validated using simulated or augmented data in a simulated environment, which may enable testing of more extreme scenarios outside of real-world environments where such testing may be less safe.

[0022] In some examples, sensor data 102 may include image data representing an image, image data representing a video (e.g., a snapshot of a video), and / or sensor data representing a representation of a sensor's field of perception (e.g., a depth map for a LIDAR sensor, a value graph for an ultrasonic sensor, etc.) When sensor data 102 includes image data, any type of image data format may be used, such as, without limitation, Joint Photographic Experts Group (JPEG) or Luminance / Chrominance (YUV) formats, compressed images such as frame streaming resulting from compressed video formats such as H.264 / Advanced Video Coding (AVC) or H.265 / High Efficiency Video Coding (HEVC), raw images from Red Clear Blue (RCCB), Red Clear Blue (RCCC), or other types of image sensors, and / or other formats. Additionally, in some instances, the sensor data 102 may be used in the process 100 without preprocessing (e.g., in its raw or captured format), while in other instances, the sensor data 102 may undergo preprocessing (e.g., noise balancing, demosaicing, scaling, cropping, enhancement, white balancing, tone curve adjustment, etc., e.g., using a sensor data preprocessor (not shown)). As used herein, the sensor data 102 may refer to raw sensor data, preprocessed sensor data, or a combination thereof.

[0023] The sensor data 102 used for training may include original images (e.g., as captured by one or more image sensors), downsampled images, upsampled images, cropped or region-of-interest (ROI) images, otherwise augmented images, and / or combinations thereof. The DNN 104 may be trained using the images (and / or other sensor data 102) and corresponding ground truth data—e.g., 2D ground truth data 116. The ground truth data may include annotations, labels, masks, and / or the like. For example, in some embodiments, the 2D ground truth data may correspond to annotations of intersection areas or line segments, classifications of intersection areas or line segments, and / or directional information associated therewith—e.g., as described with respect to FIGS. 2A-2B and 3A-3B. In some embodiments, the 2D ground truth data 116 may be similar to the ground truth data described in U.S. Patent No. 6,239,999, filed April 14, 2020, U.S. Patent No. 6,239,999, filed June 24, 2020, and / or U.S. Patent No. 6,239,999, filed March 10, 2020, each of which is incorporated by reference in its entirety.

[0024] If annotations are used to generate the 2D ground truth data 116, in some instances the annotations may be generated within a drawing program (e.g., an annotation program), a computer-aided design (CAD) program, a labeling program, another type of program suitable for generating annotations, and / or may be hand-drawn. In any instance, the 2D ground truth data 116 may be synthetically generated (e.g., generated from a computer model or rendering), practically generated (e.g., designed and generated from real-world data), machine-automated (e.g., using feature analysis and learning to extract features from data and then generate labels), human-annotated (e.g., a labeler or annotation expert defines the location of the labels), and / or a combination thereof (e.g., a human identifies a center point or origin and area dimensions, and a machine generates polygons and / or labels for the intersection area).

[0025] The intersection area may include annotations corresponding to bounding shapes—e.g., polygons, etc.—or other label types that depict the intersection's area of ​​interest. In some instances, the intersection area may be depicted in the sensor data 102—e.g., within a sensor data representation of the sensor data 102—by one or more polygons corresponding to a pedestrian crossing area, an intersection entry area, an intersection exit area, an unclear area, a no lane area, an intersection interior area, a partially visible area, a fully visible area, etc. The polygons may be generated as bounding boxes. Semantic information (e.g., classifications) corresponding to the 2D ground truth data 116 may be generated for each image represented by the sensor data 102 used to train the DNN 104 and / or for one or more polygons within an image. The number of classifications may correspond to the number and / or type of features the DNN 104 is trained to predict or the number and / or type of feature of intersection areas within each image.

[0026] Depending on the embodiment, the semantic information may correspond to a classification or tag corresponding to a feature type or class of intersection area, for example, but not limited to, a pedestrian crossing area, an intersection entry area, an intersection exit area, an unclear area, a no lane area, an intersection interior area, a partially visible area, a fully visible area, and / or the like. In some instances, the classification may primarily correspond to an intersection interior area and / or an intersection exterior area. An intersection interior area classification may refer to an intersection area that includes an area within the intersection where the paths of vehicles traversing the intersection in various directions may intersect. An intersection exterior area classification may refer to an intersection area that includes an area outside the intersection interior area.

[0027] Intersection areas classified as intersection exterior areas may be further labeled with classifications corresponding to attributes corresponding to feature types of intersection exit areas, including, but not limited to, pedestrian crossing areas, intersection entry areas, intersection exit areas, unclear areas, no lane areas, and / or the like. Specifically, the intersection entry attribute may correspond to an intersection area where one or more vehicles are entering the corresponding intersection from various different directions. The intersection exit area may correspond to an intersection area where one or more vehicles that recently exited the intersection in various directions may be located. It should be understood that information about the intersection exit area may be particularly important because a vehicle 800 must safely cross the intersection exit area in order to safely cross the intersection. Similarly, a pedestrian crossing area may refer to an intersection area corresponding to a pedestrian crossing located outside the intersection interior area. An area classified as a "no lane area" may correspond to an intersection area where vehicles are not permitted to cross, such as a bicycle lane, a pedestrian walkway, and / or the like. The "uncertain area" attribute may correspond to an intersection area where the direction of travel of vehicles is unclear. Additionally, the classification of the intersection interior area and intersection exterior area classes may also include one of the attributes of a fully visible area and / or a partially visible area. In an illustrative example, if a classification includes a fully visible area attribute or class label, the corresponding intersection area may include, for example, a fully visible surface without obstacles. In contrast, if a classification includes a partially visible area attribute or class label, the corresponding intersection area may include obstacles, such as occlusions, such that the driving surface within the area is only partially visible in the corresponding sensor data 102. The labeling ontologies described herein are for illustrative purposes only, and additional and / or alternative class labels may be used without departing from the scope of this disclosure.

[0028] 2A-2B, by way of non-limiting example, FIGS. 2A-2B illustrate example annotations corresponding to sensor data 102 for use in generating ground truth for training a DNN to detect intersections, according to some embodiments of the present disclosure. For example, FIG. 2A illustrates example labeling (e.g., corresponding to semantic information) of image 200A that may be used to generate ground truth data in accordance with training process 100 of FIG. 1. Intersection areas or regions within the image may be annotated with intersection areas (e.g., areas 204A, 204B, 206, 208, 210A, and 210B) and corresponding classifications (e.g., “intersection interior,” “partially visible,” “vehicle exit,” “vehicle entry,” “partially visible,” “pedestrian crossing,” etc.). For example, intersection area 204A may be labeled using a polygon and classified as having one or more attributes, such as “intersection entry” and “partially visible.” Similarly, intersection areas 204B, 206, 208, 210A, and 210B may also be labeled using polygons, where intersection 204B may be classified as having one or more attributes such as "vehicle entry" and "partially visible," intersection area 206 may be classified as having one or more attributes such as "pedestrian crossing" and "partially visible," intersection area 208 may be classified as having one or more attributes such as "intersection interior" and "partially visible," intersection area 210A may be classified as having one or more attributes such as "vehicle exit" and "partially visible," and intersection area 210B may be classified as having one or more attributes such as "vehicle exit" and "fully visible." In some instances, each intersection area belonging to a common class or classification may also be annotated with a matching colored polygon (or some other visual representation of semantic information). For example, the polygons of intersection areas 204A and 204B may be the same color and / or style because they are both classified as vehicle entry classifications.Similarly, the polygons of intersection areas 210A and 210B may be annotated using the same color and / or style because they are both classified as vehicle exit classes. These labeling or annotation styles may be recognized by system 100 as corresponding to particular classes, and this information may be used to generate encoded ground truth data for training DNN 104.

[0029] Referring now to FIG. 2B, FIG. 2B illustrates another example of annotations applied to sensor data to train DNN 104 to detect intersection areas, according to some embodiments of the present invention. As illustrated, intersection areas 222A-222C, 224A-224C, 226A-226B, 228A-228B, and 230 may be annotated with polygons and corresponding classifications (e.g., “intersection interior,” “partially visible,” “vehicle exit,” “vehicle entry,” “partially visible,” “pedestrian crossing,” etc.). For example, intersection areas 222A, 222B, and 222C may be labeled using polygons of similar color and / or style and classified as one or more of “vehicle entry” and “partially visible.” Similarly, intersection areas 224A, 224B, and 224C may be labeled using polygons of similar color and / or style and classified as one or more of “pedestrian crossing,” “fully visible,” and “partially visible.” Intersection areas 226A and 226B may be labeled using polygons of similar color and / or style and categorized as one or more of "no lane," "fully visible," and "partially visible." Intersection areas 228A and 228B may be labeled using polygons of similar color and / or style and categorized as one or more of "vehicle exit," "fully visible," and "partially visible." Intersection area 230 may be labeled using polygons and categorized as one or more of "intersection interior" and "partially visible."

[0030] The annotations may be similar visual representations for the same classification. As shown, intersection areas 222A, 222B, and 222C may be classified as vehicle exit areas. In this manner, similarly classified features of the image may be annotated in a similar manner. Furthermore, note that the classifications may be compound nouns. In FIG. 2B, different classification labels may be represented by solid lines, dashed lines, etc. to represent different classifications. Furthermore, different classification labels may be nouns and / or compound nouns. This is not intended to be limiting, and any naming convention for classifications may be used to describe differences in classification labels of features (e.g., intersection areas) in the image.

[0031] As an additional or alternative option for generating the 2D ground truth data 116, lane (or line) labels may be generated in association with the sensor data 102. For example, annotations or other label types may be generated corresponding to features or areas of interest corresponding to intersections. In some instances, an intersection structure may be defined as a set of line segments corresponding to lanes, crosswalks, oncoming lanes, outgoing lanes, bicycle lanes, etc. in the sensor data 102. The line segments may be generated as polylines, with the center of each polyline defined as the center of the corresponding line segment. Semantic information (e.g., classifications) may be generated for each image (and / or other sensor data representation) represented by the sensor data 102 used to train the DNN 104 and / or for one or more of the line segments and centers in the image. As above, the number of classifications may correspond to the number and / or type of features the DNN 104 is trained to predict, or the number and / or type of lanes in each image. Depending on the embodiment, the classification may correspond to a classification or tag corresponding to a feature type, such as, but not limited to, a crosswalk, a crosswalk entry, a crosswalk exit, an intersection entry, an intersection exit, and / or a bike lane.

[0032] In some instances, the intersection structure may be determined based on annotations. In such instances, a set of key points may be determined from lane labels, with each key point corresponding to the center (or left or right edge, etc.) of a corresponding line segment extending across a lane. While the key points are primarily described with respect to the center points of lane segments, this is not intended to be limiting, and in some instances, corners or endpoints of each lane may also be determined as key points for each instance of sensor data 102. For example, the corners or endpoints of each lane may be inferred from the center key point and lane directionality, or from the lane labels or annotations themselves. Additionally, the number of lanes or line segments, and the heading, directionality, width, and / or other geometric features corresponding to each line segment from each lane may be determined from annotations—e.g., from lane labels and classifications. As a result, even if the annotations do not directly indicate specific intersection structure or attitude information—such as heading, lane width, and / or lane directionality—the annotations may be analyzed or processed to determine this information.

[0033] For example, if a first lane label extends along the width of the lane and includes a classification of "Crosswalk Enter" and a second lane label extends along the same width of the lane and includes a classification of "Crosswalk Exit_Intersection Enter," this information can be used to determine the direction of travel of the lane (e.g., from the first lane label to the second lane label) (e.g., a vehicle travels in a direction across the first lane label toward the second lane label). Additionally, the lane labels may indicate the direction of travel (e.g., angle) of the lane, and from this information—such as by calculating the normal of the lane labels—the direction of travel (e.g., angle) can be determined.

[0034] 3A-3B, which illustrate example annotations applied to sensor data 102 for use in generating 2D ground truth data 116 for training a DNN 104 to detect intersection structure and pose, according to some embodiments of the present disclosure. For example, FIG. 3A illustrates example labeling (e.g., corresponding to annotations) of an image 300A that may be used to generate the 2D ground truth data 116 according to the training process 100 of FIG. 1. The lanes in the image may be annotated with lane labels (e.g., lanes 304, 306, 310, and 312) and corresponding classifications (e.g., pedestrian entering, intersection exiting, intersection entering, pedestrian exiting, no lane). For example, lane 304 may be labeled using a line segment and classified as one or more of an intersection entering and a pedestrian entering. Similarly, lane 306, lane 308, and lane 310 may also be labeled using line segments, with lane 306 being classified as one or more of an intersection ingress and a pedestrian egress, lane 308 being classified as one or more of an intersection ingress and a pedestrian egress, and lane 312 being classified as no lane.

[0035] Additionally, the labels of lanes 304, 306, and 308 may be further annotated with corresponding headings, as indicated by arrows 302A-302V. The headings may represent the direction of traffic associated with a particular lane. In some instances, the headings may be associated with the center (or key) point of its corresponding lane label. For example, heading 302S may be associated with the center point of lane 304. In FIG. 3A , different classification labels may be represented by different line styles—e.g., solid lines, dashed lines, etc.—to represent different classifications. However, this is not intended to be limiting, and visualizations of both lane labels and their classifications may include different shapes, patterns, fills, colors, symbols, and / or other identifiers to indicate differences in classification labels of features (e.g., lanes) within the image.

[0036] Referring now to FIG. 3B, FIG. 3B illustrates another example of annotations applied to sensor data for training a machine learning model to detect intersection structure and pose, according to some embodiments of the present invention. Here, lanes 322A and 322B in image 300B may be annotated with line segments. The line segment corresponding to lane 322B may be annotated to extend onto a vehicle. This may help train DNN 104 to predict the location of key points even when their actual locations may be occluded. As a result, the presence of vehicles or other objects in the roadway may not impair the system's ability to generate suggested paths through the intersection. Annotations may have similar visual representations for the same classification. As shown, lanes 322A and 322B may be classified as an intersection approach line and a stop line. In this manner, similarly classified features of an image may be annotated in a similar manner. Furthermore, note that classifications may be represented using compound nouns. In FIG. 3B, different classification labels may be represented by solid lines, dashed lines, etc. to represent different classifications. Additionally, the different classification labels may be nouns and / or compound nouns. This is not intended to be limiting, and any naming convention for classifications may be used to describe the differences in classification labels for features (e.g., lanes) within an image.

[0037] The encoder may be configured to encode 2D ground truth data 116 corresponding to intersection structure and pose using the annotations. For example, even if the annotations may be limited to lane labels and classifications, as described herein, information such as key points, the number of lanes, heading, directionality, and / or other structural and pose information may be determined from the annotations. Once this information is determined, it may be encoded by the encoder to generate the 2D ground truth data 116. For example, the heading angle corresponding to a lane may be determined using a normal to the direction of the line segment corresponding to the lane, and the heading may be determined using semantic or classification information (e.g., if a line segment corresponds to a crosswalk entry and the next line segment after that line segment corresponds to a crosswalk exit and intersection entry, the heading may be determined to be from the line segment toward the next line segment, proceeding into the intersection). Once the directionality (e.g., lane angle or other geometric shape) is determined from the annotations, a direction vector may be determined and attributed to the line segment—such as a key point (e.g., a center key point) representing the line segment. Similarly, once a heading is determined (e.g., from a direction—as a normal—or otherwise), a heading vector may be determined and attributed to a line segment—e.g., a key point representing the line segment. For example, once a heading (e.g., an angle corresponding to the vehicle's direction of travel along a lane) is determined, a heading vector may be determined and attributed to a line segment—e.g., a key point representing the line segment.

[0038] Once the 2D ground truth data 116 is generated for each instance of sensor data 102 (e.g., for each image for which sensor data 102 includes image data), the DNN 104 may be trained to directly compute a 3D intersection structure (including the locations of intersection line segments and associated semantic information) using the 2D ground truth data 116. For example, the DNN 104 may generate an output 106, which may be compared—using a loss function 114—to the 2D ground truth data 116 corresponding to each instance of the sensor data 102 and / or the 3D geometric consistency constraints 118. For example, with respect to the 2D ground truth data 116, the 3D output 108 of the DNN 104 may be transformed—e.g., using a 3D-to-2D converter 112—to 2D space for comparison with the 2D ground truth data 116 using one or more loss functions 114.

[0039] The DNN 104 may initially output arbitrarily initialized values ​​of (x, y, z) coordinates in 3D world space (e.g., 3D output 108), which will improve over time using a loss function 114. For example, the 3D output 108 may correspond to the 3D world space locations of key points corresponding to line segments depicting an intersection depicted in the sensor data 102 (e.g., 2D camera images or other 2D image data representation). As such, center key points and / or end key points—each including the corresponding (x, y, z) location in 3D world space relative to an origin (e.g., a point on the vehicle, such as the center of the axle, the front-most point of the vehicle, the top-most point of the vehicle, etc.) of the vehicle 800—may be used (e.g., connected) to generate the line segments corresponding to the intersection. For example, the 3D output 108 may be calculated as a confidence for each point in 3D world space (e.g., each (x, y, z) coordinate in the target space or design space) as to whether the point corresponds to a key point (and / or line segment). When incorporating semantic information 110, each point in the 3D world space may have a confidence associated with each type of semantic class, and a threshold confidence may be used to filter out points that do not have a semantic class that exceeds the threshold confidence. As such, if a point has a confidence above the threshold for any class, it may be predicted that there is a key point (or line segment) at that location, and that the key point (or line segment) may be of a class that exceeds the threshold confidence.

[0040] However, because generating accurate and reliable 3D ground truth data in sufficiently large quantities can be difficult, the process 100 can train the DNN 104 using 2D ground truth data 116. As such, the predicted locations in 3D world space of the intersection key points—or their corresponding line segments—can be converted to 2D space using a 3D-to-2D converter. For example, the 3D-to-2D converter uses intrinsic parameters (e.g., optical center, focal length, asymmetry coefficient, etc.) and / or extrinsic parameters (e.g., sensor position in 3D world space (e.g., relative to the origin of the vehicle 800), rotation, translation, transformation from 3D world space to 3D camera coordinate system, etc.) of the sensors that generated the instances of the sensor data 102 to convert values ​​from 3D world space to 2D image space.

[0041] The 3D-to-2D transformed locations of the intersection key points (or line segments constructed therefrom) may then be compared to known 2D locations of the key points (or line segments) in the 2D ground truth data 116. For example, the 2D ground truth data 116 may include a set of polyline segments with corresponding semantic and / or directional information (e.g., as described with respect to FIGS. 3A-3B ) and / or a set of polygon areas indicating potential conflict areas at the intersection with corresponding semantic information (e.g., as described with respect to FIGS. 2A-2B ). In some examples, other 2D ground truth data 116 formats or styles may be used in addition to or as an alternative to the 2D ground truth data 116 formats described herein without departing from the scope of this disclosure. In any embodiment, the 3D coordinate predictions (e.g., 3D output 108) of the DNN 104 may be projected into the same 2D (e.g., image) space as the 2D ground truth data 116, and a loss function 114 may be used to compare the distance between the 2D ground truth data 116 and the transformed 2D positions of the intersection features. Minimizing the distance improves the accuracy of the DNN 104's predictions, and over time, the DNN 104 learns a mapping between the 2D intersection structure information extracted from the (e.g., 2D) sensor data 102 and the 3D intersection structure in the 3D world space. Additionally, for each key point and / or line segment, semantic information 110 output by the DNN 104 may be compared with the semantic information from the 2D ground truth data 116. Furthermore, the 3D output 108 may include direction vectors, and / or the semantic information 110 may indicate directions corresponding to the key points and / or line segments. As such, this information from output 106 can be used to determine directions associated with key points and / or line segments that can be compared with directional vectors and / or heading information from 2D ground truth data 116 (such as described herein with respect to Figures 3A-3B).

[0042] As an example, refer to FIG. 4, which is an exemplary illustration of converting 3D output 108 to 2D space for training a neural network, according to some embodiments of the present disclosure. For example, 3D output 108A may correspond to a visualization of 3D output 108 of DNN 104 corresponding to an instance of sensor data 102—e.g., an instance corresponding to 2D ground truth data 116 in image 300A of FIGS. 3A and 4 . 3D output 108A may include an origin (0,0,0) corresponding to an origin on the vehicle and may extend horizontally from left to right up to the extent of the design or target space, vertically from front to back up to the extent of the design space, and vertically up and down (not depicted due to a top-down perspective) up to the extent of the design space. In a non-limiting example, the design space may be 40 meters wide (e.g., x-axis), 100 meters long (e.g., y-axis), and 3 meters high (e.g., z-axis). However, any design space may be used. The design space may be selected based on an analysis of multiple (e.g., hundreds, thousands, etc.) intersections to determine representative, average, or other values ​​corresponding to intersection dimensions, so that the design space is likely to be at least as large as any intersection a vehicle may cross. In the example visualization of FIG. 4 , the horizontal (x-axis) range shown spans −16 meters to +16 meters, the vertical (y-axis) range shown spans 0 meters to 28 meters, and the vertical range (not depicted because of the top-down visualization) spans 0 meters to 3 meters. As such, the 3D output 108 of the DNN 104 may be predicted within the design space. In the example of FIG. 4 , the 3D output may be converted to a 2D image space using a 3D-to-2D converter 112, as shown in visualization 400. For example, visualization 400 may include a 2D transformed prediction of the DNN 104 overlaid on image 300A, which may include 2D ground truth data 116 corresponding to the image. As such, a loss function 114 corresponding to the 2D ground truth data 116 can be used to compare the distance and / or semantic information of the transformed output of the DNN 104 with the 2D ground truth data 116.As shown in FIG. 4 , the 2D converted output indicates that inaccuracies exist within dashed region 402. For example, line segments 404A-404D in the 3D-to-2D converted output of visualization 400 directionally do not match with their respective line segments 404A-404D in image 300A. Similarly, semantic information associated with line segment 404B does not match the semantic information of line segment 404B from 2D ground truth data 116. As such, loss function 114 can be used to calculate distances and / or differences between location, orientation, semantic information, and / or other information in the 3D-to-2D converted output and the 2D ground truth data 116.

[0043] In some embodiments, a loss function for 3D geometric consistency constraints 118 can be used in addition to or as an alternative to the loss function for 2D ground truth data 116. For example, based on empirical knowledge of real-world intersections and intersection designs, various 3D geometric constraints can be determined and used for comparison with the computed 3D output 108 of the DNN 104. For example, because there are no quantum jumps in the physical 3D real world at the macro-scale, the 3D geometric consistency constraints 118 can include a smoothness term. As such, 3D output 108 that includes non-smooth predictions—e.g., completely separated line segments, line segments offset from each other in either the x, y, and / or z directions, and / or otherwise non-smooth line segments—can be penalized using a loss function 114 corresponding to 3D geometric consistency. Another 3D geometric consistency constraint 118 can include a straightness constraint based on the knowledge that real-world intersections are designed to have straight entry / exit lines and that intersection line segments are generally linear. As such, 3D outputs 108 that include non-straight segments (e.g., after generating line segments using key points) may be penalized using a loss function 114 corresponding to 3D geometric consistency. Similarly, statistical variability in lane width may be used as a 3D geometric consistency constraint 118, such that, in an illustrative example, line segments longer than a threshold length due to statistical variability in lane width may be penalized, and line segments shorter than a threshold length due to statistical variability in lane width may be penalized, with larger differences resulting in more penalization. For example, in the United States, the average lane width may be 3.5 meters, and therefore, by way of non-limiting illustrative example, the acceptable range may be 3.25 meters to 3.75 meters depending on the statistical variability. As such, if the 3D outputs 108 indicate lanes that are 2.5 meters or 5 meters wide, these outputs may be penalized using the loss function 114 of the 3D geometric consistency constraint 118. The 3D geometric consistency constraints 118 described herein are not intended to be limiting, and additional or alternative constraints may be used without departing from the scope of this disclosure.

[0044] As such, feedback from the loss function 114 can be used to update the parameters (e.g., weights and biases) of the DNN 104 taking into account the 2D ground truth data 116 and / or the 3D geometric consistency constraints 118 until the DNN 104 converges to an acceptable or desired accuracy. By using the process 100, the DNN 104 can be trained to accurately predict outputs 106—e.g., 3D outputs 108 and / or semantic information 110—from the sensor data 102 using the loss function 114, the 2D ground truth data 116, and the 3D geometric consistency constraints. As described herein, in some instances, the DNN 104 can be trained to predict different outputs 106 using different loss functions 114. For example, a first loss function 114 may be used to compare the 3D-to-2D converted output 106 to 2D ground truth data, and a second loss function 114 may be used to compare the 3D output to 3D geometric consistency constraints 118. In such an instance, two or more loss functions 114 may be weighted (e.g., similarly, differently, etc.) to generate a final loss value that may be used to update parameters of the DNN 104.

[0045] Referring now to FIG. 5 , each block of method 500 described herein includes a computational process that may be performed using any combination of hardware, firmware, and / or software. For example, various functions may be performed by a processor executing instructions stored in a memory. Method 500 may also be implemented as computer-usable instructions stored on a computer storage medium. Method 500 may be provided by a standalone application, a service, or a hosted service (standalone or in combination with another hosted service), or a plug-in to another product, to name a few. Furthermore, method 500 is described with respect to process 100 of FIG. 1 , by way of example. However, these methods may additionally or alternatively be performed by any one process and / or any one system, or any combination of processes and / or systems, including, but not limited to, those described herein.

[0046] 5 is a flow diagram illustrating an example method 500 for training a neural network to detect intersections, according to some embodiments of the present disclosure. The method 500 includes, at block B502, applying sensor data representing a sensor data representation in 2D space to the neural network. For example, sensor data 102 representing an image (or other sensor data representation) may be applied to the DNN 104.

[0047] The method 500 includes, at block B504, using a neural network to calculate data representing a 3D world space position based at least in part on the sensor data. For example, the DNN 104 may process the sensor data 102 and then calculate an output 106—specifically, in an embodiment, a 3D output 108.

[0048] The method 500 includes converting the 3D world space position to 2D space to generate a 2D space position at block B506. For example, the 3D to 2D converter 112 can convert the 3D output 108 to 2D (image) space using intrinsic and / or extrinsic parameters of the sensor that generated the sensor data 102.

[0049] The method 500 includes comparing the 2D spatial location to 2D spatial ground truth locations associated with the sensor data using a first loss function at block B508. For example, the 3D-to-2D converted output of the DNN 104 may be compared to the 2D ground truth data 116 using the first loss function 114.

[0050] The method 500 includes comparing the 3D world space position to one or more geometric consistency constraints using a second loss function at block B510. For example, the 3D output 108 of the DNN 104 may be compared to the 3D geometric consistency constraints 118 using the second loss function.

[0051] At block B512, the method 500 includes updating one or more parameters of the neural network based at least in part on a comparison of the 2D spatial positions to the 2D spatial ground truth positions and a comparison of the 3D world spatial positions to one or more geometric consistency constraints. For example, the DNN 104 may be updated based on the outputs of the first and second loss functions using a training engine or optimizer. This process may be repeated for each instance of sensor data 102 used to train the DNN 104 until the DNN converges to an acceptable level of accuracy.

[0052] Deploying DNNs to calculate 3D intersection structures Referring now to FIG. 6A, FIG. 6 is a data flow diagram illustrating an example process 600 for detecting intersection structures in a 3D world space using a neural network, according to some embodiments of the present disclosure. It should be understood that this and other arrangements described herein are merely illustrative. Other arrangements and elements (e.g., machines, interfaces, functions, sequences, groupings of functions, etc.) may be used in addition to or instead of those shown, and some elements may be omitted altogether. Furthermore, many of the elements described herein are functional entities that may be implemented as separate or distributed components or in conjunction with other components, and in any suitable combination and location. Various functions described herein as being performed by entities may be implemented by hardware, firmware, and / or software. For example, various functions may be implemented by a processor executing instructions stored in memory. In some embodiments, training the neural network 100 according to the process may be implemented, at least in part, using components, features, and / or functions similar to those described herein with respect to the example computing device 900 of FIG. 9 and / or the example data center 1000 of FIG. 10.

[0053] The process 600 may include receiving and / or generating sensor data 102. For example, the sensor data 102 may be similar to the sensor data 102 described with respect to FIG. 1. For example, the sensor data 102 may be generated during operation of the vehicle 800 using one or more sensor types of the vehicle 800. The sensor data 102—e.g., 2D sensor data—may be applied to a DNN 104, which may compute an output 106. The output 106 may include a 3D output 108, semantic information corresponding to the 3D output, and / or directional information corresponding to the 3D output (e.g., a direction and / or heading associated with each key point and / or line segment), as described herein with respect to FIG. 1.

[0054] The DNN 104 can use the sensor data 102 to compute an output 106, which can ultimately be applied to a decoder or one or more other post-processing components to generate key points, classifications, lane counts, lane headings, lane orientations, and / or other information. Although examples are described herein with respect to the use of deep neural networks (DNNs), and specifically convolutional neural networks (CNNs), this is not intended to be limiting. For example, without limitation, the DNN 104 may include any type of machine learning model, such as a machine learning model using linear regression, logistic regression, decision tree, support vector machine (SVM), naive Bayes, k-nearest neighbor (Knn), K-means clustering, random forest, dimensionality reduction algorithm, gradient boosting algorithm, neural network (e.g., autoencoder, convolution, recursion, perceptron, long / short term memory / LSTM, Hopfield, Boltzmann, deep belief, deconvolution, generative adversarial, liquid state machine, etc.), lane detection algorithm, computer vision algorithm, and / or other types of machine learning models.

[0055] As an example, for example, if the DNN 104 includes a CNN, the DNN 104 may include any number of layers. One or more layers may include an input layer. The input layer may hold values ​​associated with the sensor data 102 (e.g., before or after post-processing). For example, if the sensor data 102 is an image, the input layer may hold values ​​representing the raw pixel values ​​of the image as a volume (e.g., width, height, and color channels (e.g., RGB), such as 32x32x3).

[0056] One or more layers may include a convolutional layer. A convolutional layer can calculate the output of neurons connected to local regions in the input layer, with each neuron calculating the dot product between its weight and the small region in the input volume to which it is connected. The result of a convolutional layer may be another volume, one of whose dimensions is based on the number of filters applied (e.g., width, height, and number of filters, such as 32 x 32 x 12, where 12 is the number of filters).

[0057] One or more layers may include a deconvolutional layer (or a transposed convolutional layer), for example, the result of a deconvolutional layer may be another volume with higher dimensionality than the input dimensionality of the data received at the deconvolutional layer.

[0058] One or more layers may include a rectified linear unit (ReLU) layer. The ReLU layer may, for example, apply an element-wise activation function such as max(0,x) and threshold at zero. The resulting volume of the ReLU layer may be the same as the volume of the input of the ReLU layer.

[0059] One or more layers may include a pooling layer, which may perform a down-sampling operation along spatial dimensions (e.g., height and width) resulting in a volume smaller than the input of the pooling layer (e.g., from a 32x32x12 to a 16x16x12 input volume).

[0060] The one or more layers may include one or more fully connected layers. Each neuron in a fully connected layer may be connected to each neuron in the previous volume. The fully connected layer may calculate class scores, and the resulting volume may be 1 x 1 x number of classes. In some instances, the CNN may include fully connected layers such that the output of one or more layers of the CNN may be provided as input to a fully connected layer of the CNN. In some instances, one or more convolutional streams may be implemented by the DNN 104, and some or all of the convolutional streams may include respective fully connected layers.

[0061] In some non-limiting examples, the DNN 104 may include a series of convolutional and max-pooling layers to facilitate image feature extraction, followed by multi-scale dilated convolutional and upsampling layers to facilitate global context feature extraction.

[0062] Although input layers, convolutional layers, pooling layers, ReLU layers, and fully connected layers are described herein with respect to the DNN 104, this is not intended to be limiting. For example, additional or alternative layers, such as normalization layers, softmax layers, and / or other layer types, may be used in the DNN 104.

[0063] In embodiments in which DNN 104 includes a CNN, different orders and numbers of layers of the CNN may be used, depending on the embodiment, In other words, the order and number of layers of DNN 104 is not limited to any one architecture.

[0064] Additionally, some layers, such as convolutional layers and fully connected layers, may include parameters (e.g., weights and / or biases), while other layers, such as ReLU layers and pooling layers, may not include parameters. In some instances, the parameters may be learned by the DNN 104 during training. Furthermore, some layers, such as convolutional layers, fully connected layers, and pooling layers, may include additional hyperparameters (e.g., learning rate, stride, epoch, etc.), while other layers, such as ReLU layers, may not include additional hyperparameters. The parameters and hyperparameters are not limited and may vary depending on the implementation.

[0065] As an example of a DNN, FIG. 6B illustrates an exemplary DNN 104A for use in computing an intersection structure according to some embodiments of the present disclosure. For example, the DNN 104A may include an encoder-decoder type DNN 104, such as a first 2D encoder network 608 and a second 3D decoder network 612. For example, during training, sensor data 102, such as an input image 602, may pass through a set of convolutional layers in the 2D encoder network 608, which learns latent variables (e.g., descriptors of the entire image or other sensor data representation) represented in a latent space representation 610 (e.g., a vector in latent space). In an embodiment, the latent space representation 610 may correspond to a high-dimensional space vector having some number of members (e.g., 512, 1024, etc.). Similar to an image reconstruction task, the latent space representation 610 may represent an entire instance of the sensor data 102 (e.g., not just features identified from pixels). As such, the convolutional layers of the encoder network 608 may extract latent variables. This intermediate result—e.g., latent space representation 610—may then be deconvolved into the target or design space of the 3D output 108 using the 3D decoder network 612. As a result, the 3D output may have a 1:1 mapping within the 3D world space and thus may directly represent the intersection structure in the target or design space. Thus, in contrast to conventional systems in which 2D output is transformed into 3D space—a difficult and imprecise process that relies on flat-ground assumptions—the DNN 104A may directly compute the 3D output 108. For example, similar to the 3D output 108A of FIG. 4, the 3D intersection structure 614 may correspond to an accurate representation of the output 106 of the DNN 104A after processing the 2D image-space input image 102A. As described herein, different line labels in the visualization of the 3D intersection structure 614 may correspond to different semantic information 110 associated with each of the line segments generated using the computed 3D output 108 (e.g., using key point locations).

[0066] Although only a single 2D encoder network 608 is shown processing a single instance of sensor data 102A, this is not intended to be limiting. For example, any number of 2D encoder networks 608 may process any number of instances of sensor data 102 from any number of sensors. For example, at any time instance or frame, a first sensor (e.g., a first camera, LIDAR sensor, etc.) may generate first sensor data 102 that is processed by a first instance of 2D encoder network 608 (e.g., trained for a particular type of sensor data input) to compute a first latent space representation 610, a second sensor (e.g., a second camera, LIDAR sensor, RADAR sensor, etc.) may generate second sensor data 102 that is processed by a second instance of 2D encoder network 608 (e.g., trained for a particular type of sensor data input) to compute a second latent space representation 610, and so on. Multiple latent space representations 610 for a given time instance or frame may then be combined (e.g., concatenated), and the single combined latent space representation 610 may be processed by the 3D decoder network 612 to compute the 3D intersection structure 614. In some embodiments, two or more of the 2D encoder networks 608 may be processed in parallel using parallel processing units of the vehicle 800. As a result, the processing time for any number of 2D encoder networks 608 may be similar or the same as processing only a single instance of the 2D encoder network 608, thereby enabling additional information (e.g., sensor data 102 from multiple sources) to be processed in generating the 3D intersection structure 614.

[0067] 6A, the output 106 may be processed using a post-processor 602. For example, temporal post-processing may be used to further enhance the robustness and accuracy of the prediction. In such an instance, the output 106 from one or more previous instances of the DNN 104 may be compared (e.g., weighted) with the current output 106 from the current instance of the DNN 104 to generate an updated, temporally smoothed result.

[0068] The output 106—before or after post-processing—may be applied to a path generator 604, which generates a path and / or trajectory for the vehicle 800 to follow to navigate the intersection. For example, semantic and / or directional information (e.g., direction vector, heading, etc.) associated with line segments from the 3D intersection structure may be used to determine potential paths through the intersection. In an embodiment, the path generator 604 may connect (center) key points corresponding to the line segments according to their 3D world space coordinates to generate polylines in real time or near real time representing potential paths for the vehicle 800 to traverse the intersection. The final path may be assigned a path type determined in relation to the vehicle's position, the key point positions, and / or the lane heading (e.g., angle). Potential path types may include, but are not limited to, a left turn, a right turn, a lane switch, and / or a lane continuation.

[0069] In some instances, the path generator 604 may implement curve fitting to determine a final shape that most accurately reflects the natural curve of the potential path. Any known curve fitting algorithm may be used, such as, but not limited to, polyline fitting, polynomial fitting, and / or clothoid fitting. The shape of the potential path may be determined based on the locations of key points and the corresponding lane headings associated with the connected key points. In some instances, the shape of the potential path may be aligned with the tangent of the heading vector at the location of the connected key point. The curve fitting process may be repeated for all key points that can potentially be connected to each other to generate all possible paths the vehicle 800 can take to navigate the intersection. In some instances, infeasible paths may be eliminated from consideration based on traffic regulations and physical limitations associated with such paths. The remaining potential paths may be determined to be feasible 3D paths or trajectories the vehicle 800 can take to traverse the intersection.

[0070] In some examples, the path generator 604 may use a matching algorithm to connect the key points and generate potential paths for the vehicle 800 to navigate the intersection. In such examples, a matching score may be determined for each pair of key points based on the location of the key points, the lane direction of travel corresponding to the key points (e.g., two key points corresponding to different driving directions are not connected), and the shape of the approximation curve between the pair of key points. Each key point corresponding to an intersection entry may be connected to multiple key points corresponding to an intersection exit, thereby generating multiple potential paths for the vehicle 800. In some examples, a linear matching algorithm, such as the Hungarian matching algorithm, may be used. In other examples, a nonlinear matching algorithm, such as a spectral matching algorithm, may be used to connect the pairs of key points.

[0071] The path through the intersection may be used by the autonomous driving software stack 606 (alternatively referred to herein as “driving stack 606”) of the vehicle 800 to perform one or more actions. In some instances, the lane graph may be augmented with information related to the path. The lane graph may be input to one or more control components of the vehicle 800 to perform various planning and control tasks. For example, a world model manager may update the world model to assist in navigating the intersection, a path planning layer of the driving stack 606 may use the intersection information to determine a path through the intersection (e.g., along one of the determined potential paths), and / or a control component may determine control of the vehicle to navigate the intersection according to the determined path.

[0072] Referring now to FIG. 7 , each block of method 700 described herein includes a computational process that may be performed using any combination of hardware, firmware, and / or software. For example, various functions may be performed by a processor executing instructions stored in a memory. Method 700 may also be implemented as computer-usable instructions stored on a computer storage medium. Method 700 may be provided by a standalone application, a service, or a hosted service (standalone or in combination with another hosted service), or a plug-in to another product, to name a few. Furthermore, method 700 is described with respect to process 600 of FIG. 6 , by way of example. However, these methods may additionally or alternatively be performed by any one process and / or any one system, or any combination of processes and / or systems, including, but not limited to, those described herein.

[0073] 7 is a flow diagram illustrating an example method 700 for detecting an intersection structure in a 3D world space using a neural network, according to some embodiments of the present disclosure. The method 700 includes, at block B702, applying sensor data representing a 2D sensor data representation of an intersection within a field of view of at least one sensor of an autonomous machine to a neural network. For example, sensor data 102 (e.g., an image depicting the intersection) may be applied to the DNN 104.

[0074] At block B704, the method 700 includes using a neural network to calculate, based at least in part on the sensor data, data representing a 3D world space location corresponding to the intersection and a confidence value corresponding to the semantic information. For example, the DNN 104 may use the sensor data 102 to calculate an output 106—e.g., a 3D output 108 and semantic information 110.

[0075] At block B706, the method 700 includes decoding the data representing the 3D world space positions to determine line segment positions of line segments associated with the intersection. For example, the 3D output 108 may correspond to positions of key points, which may indicate 3D positions of line segments at the intersection.

[0076] The method 700 includes, at block B708, decoding the data representing the confidence values ​​to determine associated semantic information for each line segment. For example, the semantic information 110 may be calculated as confidences (or probabilities) corresponding to a number of different class types (such as, but not limited to, those described herein), and the confidence values ​​may be used to determine the semantic information 110—e.g., the class with the highest confidence value (or confidence value above a threshold) may be attributed to a particular key point and / or line segment.

[0077] The method 700 includes, at block B710, performing one or more actions by the autonomous machine based at least in part on the line segment positions and associated semantic information. For example, the output 106 may be used by the path generator 604 to generate a path for the vehicle 800 through an intersection, and / or the output 106 or the path may be used by the driving stack 606 to perform world model management, path planning, control, and / or other actions.

[0078] Exemplary Autonomous Vehicle 8A is an illustration of an example autonomous vehicle 800 according to some embodiments of the present disclosure. Autonomous vehicle 800 (alternatively referred to herein as "vehicle 800") may include, but is not limited to, a passenger vehicle, such as a car, a truck, a bus, a first responder vehicle, a shuttle, an electric or moped, a motorcycle, a fire engine, a police vehicle, an ambulance, a boat, a construction vehicle, a submarine, a drone, and / or another type of vehicle (e.g., unmanned and / or carrying one or more passengers). Autonomous vehicles are generally described in terms of automation levels as defined by the National Highway Traffic Safety Administration (NHTSA), a division of the U.S. Department of Transportation, and the Society of Automotive Engineers (SAE) "Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles" (Standard No. J3016-201806 published June 15, 2018, Standard No. J3016-201609 published September 30, 2016, and previous and future versions of this standard). Vehicle 800 may be capable of functioning according to one or more of levels 3 through 5 of autonomous driving. For example, vehicle 800 may be capable of conditional automation (Level 3), high automation (Level 4), and / or full automation (Level 5), depending on the embodiment.

[0079] Vehicle 800 may include components such as a vehicle chassis, body, wheels (e.g., 2, 4, 6, 8, 18, etc.), tires, axles, and other components. Vehicle 800 may include a propulsion system 850, such as an internal combustion engine, a hybrid power plant, a fully electric engine, and / or another propulsion system type. Propulsion system 850 may be connected to a drive train of vehicle 800, which may include a transmission, to enable propulsion of vehicle 800. Propulsion system 850 may be controlled in response to receiving a signal from a throttle / accelerator 852.

[0080] Steering system 854, which may include a steering wheel, may be used to steer vehicle 800 (e.g., along a desired course or route) when propulsion system 850 is operating (e.g., when the vehicle is moving). Steering system 854 may receive signals from steering actuator 856. A steering wheel may be optional for fully automated (Level 5) functionality.

[0081] Brake sensor system 846 may be used to operate vehicle brakes in response to receiving signals from brake actuators 848 and / or brake sensors.

[0082] Controller 836, which may include one or more system on chip (SoC) 804 (FIG. 8C) and / or a GPU, can provide signals (e.g., representations of commands) to one or more components and / or systems of vehicle 800. For example, the controller can send signals to operate vehicle brakes via one or more brake actuators 848, to operate steering system 854 via one or more steering actuators 856, and to operate propulsion system 850 via one or more throttle / accelerators 852. Controller 836 may include one or more on-board (e.g., integrated) computing devices (e.g., supercomputers) that process sensor signals and output operational commands (e.g., signals representing commands) to enable rhythmic driving and / or assist a driver in operating vehicle 800. The controllers 836 may include a first controller 836 for autonomous driving functions, a second controller 836 for functional safety functions, a third controller 836 for artificial intelligence functions (e.g., computer vision), a fourth controller 836 for infotainment functions, a fifth controller 836 for redundancy in emergency situations, and / or other controllers. In some instances, a single controller 836 may handle two or more of the foregoing functions, and two or more controllers 836 may handle a single function and / or any combination thereof.

[0083] Controller 836 may provide signals to control one or more components and / or systems of vehicle 800 in response to sensor data (e.g., sensor inputs) received from one or more sensors. Sensor data may be received from, for example, and without limitation, global navigation satellite system sensors 858 (e.g., global positioning system sensors), RADAR sensors 860, ultrasonic sensors 862, LIDAR sensors 864, inertial measurement unit (IMU) sensors 866 (e.g., accelerometers, gyroscopes, magnetic compasses, magnetometers, etc.), microphones 896, stereo cameras 868, wide-view cameras 870 (e.g., fisheye cameras), infrared cameras 872, surround cameras 874 (e.g., 360-degree cameras), long-range and / or medium-range cameras 898, speed sensors 844 (e.g., for measuring the speed of vehicle 800), vibration sensors 842, steering sensors 840, brake sensors (e.g., as part of brake sensor system 846), and / or other sensor types.

[0084] One or more of the controllers 836 may receive input (e.g., represented by input data) from the instrument cluster 832 of the vehicle 800 and provide output (e.g., represented by output data, display data, etc.) via a human-machine interface (HMI) display 834, an audible annunciator, a loudspeaker, and / or other components of the vehicle 800. The output may include information such as vehicle velocity, speed, time, map data (e.g., HD map 822 of FIG. 8C ), position data (e.g., the position of the vehicle 800 on a map, etc.), direction, the positions of other vehicles (e.g., an occupancy grid), information about objects and the status of objects as known by the controller 836, etc. For example, the HMI display 834 may display information regarding the presence of one or more objects (e.g., road signs, warning signs, traffic light changes, etc.) and / or a driving maneuver the vehicle has performed, is performing, or will perform (e.g., changing lanes now, taking exit 34B in 3.22 km (2 miles), etc.).

[0085] Vehicle 800 further includes a network interface 824 that can communicate over one or more networks using one or more wireless antennas 826 and / or a modem. For example, network interface 824 may be capable of communication over LTE, WCDMA, UMTS, GSM, CDMA2000, etc. Wireless antenna 826 may also enable communication between objects in an environment (e.g., vehicles, mobile devices, etc.) using local area networks such as Bluetooth, Bluetooth LE, Z-Wave, ZigBee, etc., and / or low power wide-area networks (LPWANs) such as LoRaWAN, SigFox, etc.

[0086] 8B is an illustration of camera positions and fields of view of the exemplary autonomous vehicle 800 of FIG. 8A, according to some embodiments of the present disclosure. The cameras and their respective fields of view are one illustrative example and are not intended to be limiting. For example, additional and / or alternative cameras may be included and / or the cameras may be located in different positions on the vehicle 800.

[0087] The camera type may include, but is not limited to, a digital camera adapted for use with components and / or systems of vehicle 800. The camera may be capable of operating at Automotive Safety Integrity Level (ASIL) B and / or another ASIL. The camera type may be capable of any image capture rate, such as 60 frames per second (fps), 120 fps, 240 fps, etc., depending on the embodiment. The camera may be capable of using a rolling shutter, a global shutter, another type of shutter, or a combination thereof. In some instances, the color filter array may include a red clear clear clear (RCCC) color filter array, a red clear clear blue (RCCB) color filter array, a red blue green clear (RBGC) color filter array, a Foveon X3 color filter array, a Bayer sensor (RGGB) color filter array, a monochrome sensor color filter array, and / or another type of color filter array. In some embodiments, clear pixel cameras, such as cameras with RCCC, RCCB, and / or RBGC color filter arrays, may be used in an effort to increase light sensitivity.

[0088] In some instances, one or more of the cameras may be used to perform advanced driver assistance system (ADAS) functions (e.g., as part of a redundant or fail-safe design). For example, a multi-function mono camera may be installed to provide functions including lane departure warning, traffic sign assist, and intelligent headlamp control. One or more of the cameras (e.g., all cameras) may simultaneously record and provide image data (e.g., video).

[0089] One or more of the cameras may be mounted in a mounting part, such as a custom-designed (e.g., 3D printed) part, to filter out stray light and reflections from within the vehicle (e.g., reflections from the dashboard reflected in the windshield mirror) that may interfere with the camera's image data capture ability. Referring to a side mirror mounting part, the side mirror part may be custom 3D printed so that the camera mounting plate fits the shape of the side mirror. In some instances, the camera may be integrated into the side mirror. For side view cameras, the camera may also be integrated into four posts at each corner of the cabin.

[0090] A camera (e.g., a forward-facing camera) with a field of view that includes a portion of the environment in front of the vehicle 800 may be used for surround view to help identify the forward path and obstacles and, with the assistance of one or more controllers 836 and / or control SoCs, provide information essential for generating an occupancy grid and / or determining a preferred vehicle path. Forward-facing cameras may be used to perform many of the same ADAS functions as LIDAR, including emergency braking, pedestrian detection, and collision avoidance. Forward-facing cameras may also be used for ADAS features and systems, including other functions such as lane departure warning (LDW), autonomous cruise control (ACC), and / or traffic sign recognition.

[0091] Various cameras may be used in a forward-facing configuration, including, for example, a monocular camera platform including a complementary metal oxide semiconductor (CMOS) color imager. Another example may be a wide-view camera 870 that may be used to understand objects entering the view from the periphery (e.g., pedestrians, crossing traffic, or bicycles). While only one wide-view camera is shown in FIG. 8B, any number of wide-view cameras 870 may be present in the vehicle 800. Additionally, a long-range camera 898 (e.g., a long-view stereo camera pair) may be used for depth-based object detection, particularly for objects for which a neural network has not yet been trained. The long-range camera 898 may also be used for object detection and classification, as well as basic object tracking.

[0092] One or more stereo cameras 868 may also be included in the forward-facing configuration. The stereo camera 868 may include an integrated control unit with an extensible processing unit, which may provide programmable logic (FPGA) and a multi-core microprocessor with a CAN or Ethernet interface integrated on a single chip. Such a unit may be used to generate a 3D map of the vehicle's environment, including distance estimates for all points in the image. An alternative stereo camera 868 may include a compact stereo vision sensor, which may include two camera lenses (one on the left and one on the right) and an image processing chip that can measure the distance from the vehicle to objects and use the generated information (e.g., metadata) to activate autonomous emergency braking and lane departure warning features. Other types of stereo cameras 868 may be used in addition to or instead of those described herein.

[0093] Cameras having a field of view that includes portions of the environment to the sides of the vehicle 800 (e.g., side-view cameras) may be used for surround view, providing information used to create and update the occupancy grid and generate side-impact collision warnings. For example, surround cameras 874 (e.g., four surround cameras 874 as shown in FIG. 8B ) may be positioned on the vehicle 800. The surround cameras 874 may include wide-view cameras 870, fisheye cameras, 360-degree cameras, and / or the like. For example, four fisheye cameras may be positioned at the front, rear, and sides of the vehicle. In an alternative arrangement, the vehicle may use three surround cameras 874 (e.g., left, right, and rear) and utilize one or more other cameras (e.g., a forward-facing camera) as a fourth surround-view camera.

[0094] A camera having a field of view that includes the portion of the environment behind the vehicle 800 (e.g., a rearview camera) may be used for parking assistance, surround view, rear collision warning, and creating and updating an occupancy grid. As described herein, a wide variety of cameras may be used, including, but not limited to, cameras that are also suitable as forward-facing cameras (e.g., long-range and / or mid-range camera 898, stereo camera 868, infrared camera 872, etc.).

[0095] FIG. 8C is a block diagram of an example system architecture for the example autonomous vehicle 800 of FIG. 8A , in accordance with some embodiments of the present disclosure. It should be understood that this and other arrangements described herein are merely illustrative. Other arrangements and elements (e.g., machines, interfaces, functions, sequences, groupings of functions, etc.) may be used in addition to or instead of those shown, and some elements may be omitted altogether. Furthermore, many of the elements described herein are functional entities that may be implemented as separate or distributed components or in conjunction with other components, and in any suitable combination and location. Various functions described herein as being performed by entities may be implemented by hardware, firmware, and / or software. For example, various functions may be implemented by a processor executing instructions stored in a memory.

[0096] Each of the components, features, and systems of the vehicle 800 in FIG. 8C is shown connected via a bus 802. The bus 802 may include a controller area network (CAN) data interface (alternatively referred to as a "CAN bus"). The CAN may be a network within the vehicle 800 used to help control various features and functions of the vehicle 800, such as braking, acceleration, braking, steering, windshield wiper operation, etc. The CAN bus may be configured to have dozens or even hundreds of nodes, each with its own unique identifier (e.g., CAN ID). The CAN bus may be read to determine steering angle, ground speed, engine revolutions per minute (RPM), button position, and / or other vehicle status indicators. The CAN bus may be ASIL B compliant.

[0097] Although the bus 802 is described herein as being a CAN bus, this is not intended to be limiting. For example, FlexRay and / or Ethernet may be used in addition to or as an alternative to a CAN bus. Additionally, although a single line is used to represent the bus 802, this is not intended to be limiting. There may be any number of buses 802, which may include, for example, one or more CAN buses, one or more FlexRay buses, one or more Ethernet buses, and / or one or more other types of buses using different protocols. In some instances, two or more buses 802 may be used to perform different functions and / or for redundancy. For example, a first bus 802 may be used for collision avoidance functions, and a second bus 802 may be used for operational control. In any instance, each bus 802 may communicate with any of the components of the vehicle 800, and two or more buses 802 may communicate with the same component. In some instances, each SoC 804, each controller 836, and / or each computer in the vehicle may have access to the same input data (e.g., input from sensors in the vehicle 800) and may be connected to a common bus, such as a CAN bus.

[0098] Vehicle 800 may include one or more controllers 836, such as those described herein with respect to FIG. 8A. Controller 836 may be used for a variety of functions. Controller 836 may be coupled to any of various other components and systems of vehicle 800 and may be used for control of vehicle 800, artificial intelligence of vehicle 800, infotainment for vehicle 800, and / or the like.

[0099] Vehicle 800 may include a system-on-chip (SoC) 804. SoC 804 may include a CPU 806, a GPU 808, a processor 810, a cache 812, an accelerator 814, a data store 816, and / or other components and features not shown. SoC 804 may be used to control vehicle 800 in a variety of platforms and systems. For example, SoC 804 may be coupled in a system (e.g., that of vehicle 800) with an HD map 822 that can obtain map refreshes and / or updates via a network interface 824 from one or more servers (e.g., server 878 of FIG. 8D ).

[0100] The CPU 806 may include a CPU cluster or CPU complex (alternatively referred to as a "CCPLEX"). The CPU 806 may include multiple cores and / or L2 caches. For example, in some embodiments, the CPU 806 may include eight cores in a coherent multiprocessor configuration. In some embodiments, the CPU 806 may include four dual-core clusters, each with its own dedicated L2 cache (e.g., a 2M L2 cache). The CPU 806 (e.g., a CCPLEX) may be configured to support simultaneous cluster operation, allowing any combination of clusters of CPUs 806 to be active at any given time.

[0101] The CPU 806 may implement power management capabilities including one or more of the following features: individual hardware blocks may be automatically clock gated when idle to conserve dynamic power; each core clock may be gated when the core is not actively executing instructions by executing a WFI / WFE instruction; each core may be independently power gated; each core cluster may be independently clock gated when all cores are clock gated or power gated; and / or each core cluster may be independently power gated when all cores are power gated. The CPU 806 may further implement an enhanced algorithm for managing power states, where allowable power states and expected wake-up times are specified and hardware / microcode determines the best power state for entering the cores, clusters, and CCPLEX. The processing cores may support simplified power state entry sequences in software with work offloaded to microcode.

[0102] GPU808 may include an integrated GPU (alternatively referred to herein as an "iGPU"). GPU808 may be programmable and efficient for parallel workloads. In some instances, GPU808 may use an enhanced tensor instruction set. GPU808 may include one or more streaming microprocessors, where each streaming microprocessor may include an L1 cache (e.g., an L1 cache with at least 96 KB of storage capacity) and two or more of the streaming microprocessors may share a cache (e.g., an L2 cache with 512 KB of storage capacity). In some embodiments, GPU808 may include at least eight streaming microprocessors. GPU808 may use a compute application programming interface (API). Additionally, GPU808 may use one or more parallel computing platforms and / or programming models (e.g., NVIDIA's CUDA).

[0103] The GPU 808 may be power-optimized for best performance in automotive and embedded use cases. For example, the GPU 808 may be fabricated on FinFET (Fin field-effect transistor) chips. However, this is not intended to be limiting, and the GPU 808 may be fabricated using other semiconductor manufacturing processes. Each streaming microprocessor may incorporate several mixed-precision processing cores partitioned into multiple blocks. For example, and without limitation, 64 PF32 cores and 32 PF64 cores may be partitioned into four processing blocks. In such an example, each processing block may be assigned 16 FP32 cores, 8 FP64 cores, 16 INT32 cores, two mixed-precision NVIDIA tensor cores for deep learning matrix operations, an L0 instruction cache, a warp scheduler, a dispatch unit, and / or a 64KB register file. Additionally, the streaming microprocessor may include independent parallel integer and floating-point data paths to provide efficient execution of workloads with a mix of computational and addressing operations. Streaming microprocessors may include independent thread scheduling capabilities to allow finer-grained synchronization and coordination among concurrent threads. Streaming microprocessors may include a combined L1 data cache and shared memory unit to improve performance while simplifying programming.

[0104] The GPU 808 may, in some instances, include a high bandwidth memory (HBM) and / or 16 GB HBM2 memory subsystem to provide up to 900 GB / s of peak memory bandwidth. In some instances, synchronous graphics random-access memory (SGRAM), such as graphics double data rate type five synchronous random-access memory (GDDR5), may be used in addition to or in place of the HBM memory.

[0105] The GPU 808 may include unified memory technology that includes access counters to enable more accurate movement of memory pages to the processors that access them most frequently, thereby improving the efficiency of storage areas shared between processors. In some instances, address translation service (ATS) support may be used to enable the GPU 808 to directly access the CPU 806 page tables. In such instances, when the GPU 808 memory management unit (MMU) experiences a miss, an address translation request may be sent to the CPU 806. In response, the CPU 806 may consult its page table for a virtual-to-real mapping of addresses and send the translation back to the GPU 808. As such, unified memory technology may enable a single unified virtual address space for both CPU 806 and GPU 808 memory, thereby simplifying GPU 808 programming and porting of applications to the GPU 808.

[0106] Additionally, GPU 808 may include access counters that can record the frequency of GPU 808's accesses to the memory of other processors. The access counters can help ensure that memory pages are moved to the physical memory of the processors that are accessing the pages most frequently.

[0107] The SoC 804 may include any number of caches 812, including those described herein. For example, the cache 812 may include an L3 cache available to both the CPU 806 and the GPU 808 (e.g., connected to both the CPU 806 and the GPU 808). The cache 812 may include a write-back cache that can record line state, such as by using a cache coherence protocol (e.g., MEI, MESI, MSI, etc.). The L3 cache may include 4 MB or more, depending on the implementation, although smaller cache sizes may also be used.

[0108] The SoC 804 may include an arithmetic logic unit (ALU) that may be utilized in performing processing for any of various tasks or operations (e.g., processing DNNs) of the vehicle 800. Additionally, the SoC 804 may include a floating point unit (FPU) (or other math co-processor or math co-processor type) for performing mathematical operations within the system. For example, the SoC 104 may include one or more FPUs integrated as execution units within the CPU 806 and / or GPU 808.

[0109] The SoC 804 may include one or more accelerators 814 (e.g., hardware accelerators, software accelerators, or a combination thereof). For example, the SoC 804 may include a hardware acceleration cluster, which may include optimized hardware accelerators and / or large on-chip memory. The large on-chip memory (e.g., 4 MB of SRAM) may enable the hardware acceleration cluster to accelerate neural networks and other operations. The hardware acceleration cluster may be used to complement the GPU 808 and to offload some of the GPU 808's tasks (e.g., to free up more cycles for the GPU 808 to perform other tasks). As an example, the accelerator 814 may be used for target workloads that are sufficiently stable to be suitable for acceleration (e.g., perception, convolutional neural networks (CNNs), etc.). As used herein, the term "CNN" may include all types of CNNs, including region-based or regional convolutional neural networks (RCNNs) and Faster RCNNs (e.g., as used for object detection).

[0110] The accelerator 814 (e.g., a hardware acceleration cluster) may include a deep learning accelerator (DLA). The DLA may include one or more tensor processing units (TPUs), which can be configured to provide an additional 10 trillion operations per second for deep learning applications and inference. The TPU may be an accelerator configured and optimized to perform image processing functions (e.g., CNN, RCNN, etc.). The DLA may also be optimized for a specific set of neural network types and floating-point operations, as well as inference. The DLA design can provide more performance per millimeter than a general-purpose GPU, significantly exceeding the performance of a CPU. The TPU can perform several functions, including, for example, single-instance convolution functions, supporting INT8, INT16, and FP16 data types for both features and weights, and post-processor functions.

[0111] The DLA can quickly and efficiently run neural networks, particularly CNNs, on processed or unprocessed data for any of a variety of functions, including, but not limited to: CNNs for object identification and detection using data from camera sensors, CNNs for distance estimation using data from camera sensors, CNNs for emergency vehicle detection and identification using data from microphones, CNNs for face recognition and vehicle owner identification using data from camera sensors, and / or CNNs for security and / or safety related events.

[0112] The DLA can perform any function of the GPU 808, and by using an inference accelerator, for example, a designer can target either the DLA or the GPU 808 for any function. For example, a designer can focus on processing CNNs and floating-point operations on the DLA, and offload other functions to the GPU 808 and / or other accelerators 814.

[0113] The accelerator 814 (e.g., a hardware acceleration cluster) may include a programmable vision accelerator (PVA), which may alternatively be referred to herein as a computer vision accelerator. The PVA may be designed and configured to accelerate computer vision algorithms for advanced driver assistance systems (ADAS), autonomous driving, and / or augmented reality (AR) and / or virtual reality (VR) applications. The PVA may provide a balance between performance and flexibility. For example, each PVA may include, but is not limited to, any number of reduced instruction set computer (RISC) cores, direct memory access (DMA), and / or any number of vector processors.

[0114] The RISC cores may interact with an image sensor (e.g., an image sensor in any of the cameras described herein), an image signal processor, and / or the like. Each RISC core may include any amount of memory. The RISC cores may use any of several protocols, depending on the embodiment. In some instances, the RISC cores may execute a real-time operating system (RTOS). The RISC cores may be implemented using one or more integrated circuit devices, application specific integrated circuits (ASICs), and / or memory devices. For example, the RISC cores may include an instruction cache and / or tightly coupled RAM.

[0115] The DMA may allow components of the PVA to access system memory independent of the CPU 806. The DMA may support any number of features used to provide optimizations to the PVA, including, but not limited to, supporting multi-dimensional addressing and / or circular addressing. In some instances, the DMA may support up to six or more dimensions of addressing, which may include block width, block height, block depth, horizontal block stepping, vertical block stepping, and / or depth stepping.

[0116] A vector processor may be a programmable processor that can be designed to efficiently and flexibly execute computer vision algorithm programming and provide signal processing capabilities. In some instances, a PVA may include a PVA core and two vector processing subsystem partitions. The PVA core may include a processor subsystem, a DMA engine (e.g., two DMA engines), and / or other peripherals. The vector processing subsystem may act as the PVA's primary processing engine and may include a vector processing unit (VPU), an instruction cache, and / or a vector memory (e.g., VMEM). The VPU core may include a digital signal processor, such as a single instruction, multiple data (SIMD), or very long instruction word (VLIW) digital signal processor. The combination of SIMD and VLIW can increase throughput and speed.

[0117] Each vector processor may include an instruction cache and may be coupled to dedicated memory. As a result, in some instances, each vector processor may be configured to execute independently of other vector processors. In other instances, the vector processors included in a particular PVA may be configured to employ data parallelism. For example, in some embodiments, multiple vector processors included in a single PVA may execute the same computer vision algorithm, but on different regions of an image. In other instances, the vector processors included in a particular PVA may execute different computer vision algorithms simultaneously on the same image, or even execute different algorithms on sequential images or portions of an image. In particular, any number of PVAs may be included in a hardware-accelerated cluster, and any number of vector processors may be included in each PVA. Additionally, the PVA may include additional error correcting code (ECC) memory to enhance overall system security.

[0118] The accelerator 814 (e.g., a hardware acceleration cluster) may include a computer vision network-on-chip and SRAM to provide high-bandwidth, low-latency SRAM for the accelerator 814. In some instances, the on-chip memory may include, for example, and without limitation, at least 4 MB of SRAM consisting of eight field-configurable memory blocks that may be accessible by both the PVA and DLA. Each pair of memory blocks may include an advanced peripheral bus (APB) interface, configuration circuitry, a controller, and a multiplexer. Any type of memory may be used. The PVA and DLA can access the memory through a backbone that provides the PVA and DLA with high-speed access to the memory. The backbone may include a computer vision network-on-chip that interconnects the PVA and DLA to the memory (e.g., using the APB).

[0119] The computer vision network-on-chip may include an interface that determines, prior to the transmission of any control signals, addresses, or data, that both the PVA and DLA provide ready and valid signals. Such an interface may provide separate phases and separate channels for transmitting control signals, addresses, and data, as well as burst-type communication for continuous data transfer. This type of interface may conform to the ISO 26262 or IEC 61508 standards, although other standards and protocols may also be used.

[0120] In some instances, SoC 804 may include a real-time ray tracing hardware accelerator, such as that described in U.S. Patent Application No. 16 / 101,232, filed August 10, 2018. The real-time ray tracing hardware accelerator may be used to quickly and efficiently determine the location and scale of objects (e.g., within a world model) to generate real-time visualization simulations for RADAR signal interpretation, for acoustic propagation synthesis and / or analysis, for SONAR system simulation, for general wave propagation simulation, for comparison to LIDAR data for localization and / or other functions, and / or other uses. In some embodiments, one or more tree traversal units (TTUs) may be used to perform one or more ray tracing-related operations.

[0121] The accelerator 814 (e.g., a hardware accelerator cluster) has diverse applications for autonomous driving. The PVA may be a programmable vision accelerator that can be used for critical processing stages in ADAS and autonomous vehicles. The capabilities of the PVA make it well suited to algorithmic domains that require predictable processing at low power and low latency. In other words, the PVA works well for semi-dense or dense regular computations on small data sets that require predictable execution times along with low latency and low power. Therefore, because the PVA is efficient at object detection and operating on integer computations, in the context of a platform for autonomous vehicles, the PVA is designed to run classic computer vision algorithms.

[0122] For example, according to one embodiment of the present technology, PVA is used to perform computer stereo vision. A semi-global matching-based algorithm may be used in some instances, but this is not intended to be limiting. Many applications for Level 3-5 autonomous driving require motion estimation / stereo matching on the fly (e.g., structure from motion, pedestrian recognition, lane detection, etc.). PVA can perform computer stereo vision functions with input from two monocular cameras.

[0123] In some instances, PVA may be used to perform dense optical flow by processing raw RADAR data (e.g., using a 4D Fast Fourier Transform) to provide processed RADAR. In other instances, PVA is used in time of flight depth processing, for example, by processing raw time of flight data to provide processed time of flight data.

[0124] DLA can be used to implement any type of network to enhance control and driving safety, including, for example, a neural network that outputs a confidence measure for each object detection. Such a confidence value can be interpreted as a probability or as providing the relative "weight" of each detection compared to other detections. This confidence value allows the system to make further decisions regarding which detections should be considered true positives rather than false positives. For example, the system can set a confidence threshold and consider only detections above the threshold as true positives. In an automatic emergency braking (AEB) system, a false positive detection would cause the vehicle to automatically apply emergency braking, which is clearly undesirable. Therefore, only the most confident detections should be considered to trigger AEB. DLA can implement a neural network that regresses the confidence value. The neural network may receive as its input at least some subset of parameters, such as bounding box dimensions, ground plane estimates obtained (e.g., from another subsystem), inertial measurement unit (IMU) sensor 866 outputs that correlate with vehicle 800 orientation, range, and 3D position estimates of objects obtained from the neural network and / or other sensors (e.g., LIDAR sensor 864 or RADAR sensor 860), and others.

[0125] The SoC 804 may include a data store 816 (e.g., memory). The data store 816 may be on-chip memory of the SoC 804 and may store neural networks to be executed by the GPU and / or DLA. In some instances, the data store 816 may have a capacity large enough to store multiple instances of the neural network for redundancy and safety. The data store 816 may comprise an L2 or L3 cache 812. References to the data store 816 may include references to memory associated with the GPU, DLA, and / or other accelerators 814, as described herein.

[0126] The SoC 804 may include one or more processors 810 (e.g., embedded processors). The processors 810 may include a boot and power management processor, which may be a dedicated processor and subsystem for handling boot power and management capabilities and related security enforcement. The boot and power management processor may be part of the SoC 804 boot sequence and may provide run-time power management services. The boot power and management processor may provide clock and voltage programming, assist with system low-power state transitions, manage the SoC 804 thermal and temperature sensors, and / or manage the SoC 804 power state. Each temperature sensor may be implemented as a ring oscillator whose output frequency is proportional to temperature, and the SoC 804 may use the ring oscillator to detect the temperature of the CPU 806, GPU 808, and / or accelerator 814. If the temperature is determined to exceed a threshold, the boot and power management processor may enter a temperature fault routine, place the SoC 804 in a lower power state, and / or place the vehicle 800 in a Chauffeur safe shutdown mode (e.g., bring the vehicle 800 to a safe shutdown).

[0127] The processor 810 may further include a set of embedded processors that can perform the functions of an audio processing engine. The audio processing engine may be an audio subsystem that allows full hardware support for multi-channel audio through multiple interfaces and a wide and flexible range of audio I / O interfaces. In some instances, the audio processing engine is a dedicated processor core that includes a digital signal processor with dedicated RAM.

[0128] The processor 810 may further include an always-on processor engine that can provide the necessary hardware features to support low-power sensor management and wake use cases. The always-on processor engine may include a processor core, tightly coupled RAM, support peripherals (e.g., timers and interrupt controllers), various I / O controller peripherals, and routing logic.

[0129] The processor 810 may further include a safety cluster engine that includes a processor subsystem dedicated to handling safety management for automotive applications. The safety cluster engine may include two or more processor cores, tightly coupled RAM, supporting peripherals (e.g., timers, interrupt controllers, etc.), and / or routing logic. In safety mode, the two or more cores may operate in lockstep mode and function as a single core with comparison logic to detect any differences between their operations.

[0130] The processor 810 may further include a real-time camera engine, which may include a dedicated processor subsystem for handling real-time camera management.

[0131] The processor 810 may further include a high dynamic range signal processor, which may include an image signal processor, which is a hardware engine that is part of the camera processing pipeline.

[0132] The processor 810 may include a video image compositor, which may be a processing block (e.g., implemented in a microprocessor) that implements video post-processing functions required by the video playback application to produce the final image for the player window. The video image compositor may perform lens distortion correction on the wide-view camera 870, the surround camera 874, and / or the in-cabin surveillance camera sensor. The in-cabin surveillance camera sensor is preferably monitored by a neural network running on a separate instance of the advanced SoC, configured to identify in-cabin events and respond appropriately. The in-cabin system may perform lip reading to activate cellular service and make phone calls, dictate emails, change the vehicle's destination, activate or change the vehicle's infotainment system and settings, or provide voice-activated web surfing. Certain features are available to the driver only when operating in autonomous mode and are disabled otherwise.

[0133] The video image combiner may include enhanced temporal noise reduction for both spatial and temporal noise reduction. For example, when motion occurs in the video, the noise reduction reduces the weight of information provided by adjacent frames and appropriately weights spatial information. When an image or portion of an image does not contain motion, the temporal noise reduction performed by the video image combiner can use information from previous images to reduce noise in the current image.

[0134] The video image compositor may also be configured to perform stereo rectification on the input stereo lens frames. The video image compositor may further be used for user interface compositing when the operating system desktop is in use, and the GPU 808 is not required to continuously render new surfaces. Even when the GPU 808 is powered on and actively performing 3D rendering, the video image compositor may be used to offload the GPU 808 to improve performance and responsiveness.

[0135] The SoC 804 may further include a mobile industry processor interface (MIPI) camera serial interface, a high-speed interface for receiving video and input from a camera, and / or a video input block that may be used for camera and related pixel input functions. The SoC 804 may further include an input / output controller that may be controlled by software and that may be used to receive I / O signals that are not committed to a specific role.

[0136] The SoC 804 may further include a wide range of peripheral interfaces to enable communication with peripherals, audio codecs, power management, and / or other devices. The SoC 804 may be used to process data from cameras (e.g., connected via gigabit multimedia serial links and Ethernet), sensors (e.g., LIDAR sensors 864, RADAR sensors 860, etc., which may be connected via Ethernet), data from bus 802 (e.g., vehicle 800 speed, steering wheel position, etc.), and GNSS sensors 858 (e.g., connected via Ethernet or CAN bus). The SoC 804 may further include a dedicated high-performance mass storage controller, which may include its own DMA engine and may be used to offload routine data management tasks from the CPU 806.

[0137] The SoC 804 may be an end-to-end platform with a flexible architecture spanning levels 3-5 of automation, thereby providing a comprehensive functional safety architecture that leverages and efficiently uses computer vision and ADAS techniques for diversity and redundancy, and provides a platform for a flexible, reliable driving software stack along with deep learning tools. The SoC 804 may be faster, more reliable, and more energy- and space-efficient than conventional systems. For example, when the accelerator 814 is combined with the CPU 806, GPU 808, and data store 816, it can provide a fast and efficient platform for levels 3-5 of autonomous vehicles.

[0138] This technology therefore offers capabilities and functionality not achievable by conventional systems. For example, computer vision algorithms can be implemented on a central processing unit (CPU), which can be configured using a high-level programming language, such as the C programming language, to execute a wide variety of processing algorithms across a wide variety of visual data. However, CPUs often cannot meet the performance requirements of many computer vision applications, including those related to execution time and power consumption. Specifically, many CPUs cannot execute complex object detection algorithms in real time, a requirement for in-vehicle ADAS applications and practical Level 3-5 autonomous vehicles.

[0139] In contrast to conventional systems, by providing a CPU complex, a GPU complex, and a hardware acceleration cluster, the technology described herein allows multiple neural networks to run simultaneously and / or serially and the results to be combined to enable Level 3-5 autonomous driving capabilities. For example, a CNN running on the DLA or dGPU (e.g., GPU820) can include text and word recognition, enabling the supercomputer to read and understand traffic signs, including signs for which the neural network was not specifically trained. The DLA can further include a neural network that can identify, interpret, and provide a semantic understanding of the signs and pass the semantic understanding to a route planning module running on the CPU complex.

[0140] As another example, multiple neural networks may be run simultaneously, as required for Level 3, 4, or 5 driving. For example, a warning sign consisting of "Caution: Flashing lights indicate icy conditions" along with an electric light may be interpreted independently or collectively by several neural networks. The sign itself may be identified as a traffic sign by a first deployed neural network (e.g., a trained neural network), and the text "Flashing lights indicate icy conditions" may be interpreted by a second deployed neural network that notifies the vehicle's route planning software (preferably running on a CPU complex) that icy conditions exist when the flashing light is detected. The flashing light may be identified by running a third deployed neural network over multiple frames, informing the vehicle's route planning software of the presence (or absence) of the flashing light. All three neural networks may run simultaneously, such as within the DLA and / or on the GPU 808.

[0141] In some instances, a CNN for facial recognition and vehicle owner identification can use data from the camera sensors to identify the presence of a legitimate driver and / or owner of the vehicle 800. An always-on sensor processing engine can be used to unlock the vehicle and turn on the lights when the owner approaches the driver's side door, and in security mode, to disable vehicle operation when the owner leaves the vehicle. In this way, the SoC 804 provides security against theft and / or carjacking.

[0142] In another example, a CNN for emergency vehicle detection and identification can detect and identify emergency vehicle sirens using data from microphone 896. In contrast to conventional systems that use general classifiers to detect sirens and manually extract features, SoC 804 uses CNNs for environmental and urban sound classification, as well as visual data classification. In a preferred embodiment, the CNN running on the DLA is trained to identify the relative terminal velocity of emergency vehicles (e.g., by using the Doppler effect). The CNN can also be trained to identify emergency vehicles specific to the local area in which the vehicle is operating, as identified by GNSS sensor 858. Thus, for example, when operating in Europe, the CNN would attempt to detect European sirens, and when in the United States, the CNN would attempt to identify only North American sirens. After an emergency vehicle is detected, a control program can be used to perform emergency vehicle safety routines, such as slowing the vehicle down, stopping it at the side of the road, parking it, and / or idling it, with the assistance of ultrasonic sensor 862, until the emergency vehicle has passed.

[0143] The vehicle may include a CPU 818 (e.g., a discrete CPU or dCPU) that may be coupled to the SoC 804 via a high-speed interconnect (e.g., PCIe). The CPU 818 may include, for example, an X86 processor. The CPU 818 may be used to perform any of a variety of functions, including, for example, reconciling potentially inconsistent results between the ADAS sensors and the SoC 804 and / or monitoring the status and health of the controller 836 and / or the infotainment SoC 830.

[0144] Vehicle 800 may include GPU 820 (e.g., a discrete GPU or dGPU) that may be coupled to SoC 804 via a high-speed interconnect (e.g., NVIDIA's NVLINK). GPU 820 may provide additional artificial intelligence functionality, such as by running redundant and / or different neural networks, and may be used to train and / or update neural networks based on input (e.g., sensor data) from sensors of vehicle 800.

[0145] Vehicle 800 may further include a network interface 824, which may include one or more wireless antennas 826 (e.g., one or more wireless antennas for different communication protocols, such as a cellular antenna, a Bluetooth antenna, etc.). Network interface 824 may be used to enable wireless connections with the cloud over the Internet (e.g., with server 878 and / or other network devices), with other vehicles, and / or with computing devices (e.g., passenger client devices). To communicate with other vehicles, a direct link may be established between the two vehicles and / or an indirect link may be established (e.g., through a network and via the Internet). A direct link may be provided using a vehicle-to-vehicle communication link. The vehicle-to-vehicle communication link may provide vehicle 800 information about vehicles in proximity to vehicle 800 (e.g., vehicles in front of, beside, and / or behind vehicle 800). This functionality may be part of a cooperative adaptive cruise control function of vehicle 800.

[0146] The network interface 824 may include an SoC that provides modulation and demodulation functions and enables the controller 836 to communicate over a wireless network. The network interface 824 may include a radio frequency front end for upconversion from baseband to radio frequency and downconversion from radio frequency to baseband. The frequency conversion may be performed through well-known processes and / or may be performed using a superheterodyne process. In some instances, the radio frequency front end functionality may be provided by a separate chip. The network interface may include wireless functionality for communicating via LTE, WCDMA, UMTS, GSM, CDMA2000, Bluetooth, Bluetooth LE, Wi-Fi, Z-Wave, ZigBee, LoRaWAN, and / or other wireless protocols.

[0147] Vehicle 800 may further include a data store 828, which may include off-chip (e.g., off-SoC 804) storage. Data store 828 may include one or more memory elements, including RAM, SRAM, DRAM, VRAM, flash, hard disk, and / or other components and / or devices capable of storing at least one bit of data.

[0148] The vehicle 800 may further include a GNSS sensor 858. The GNSS sensor 858 (e.g., a GPS, an aided GPS sensor, a differential GPS (DGPS) sensor, etc.) aids in mapping, perception, occupancy grid generation, and / or route planning functions. Any number of GNSS sensors 858 may be used, including, for example, but not limited to, a GPS using a USB connector with an Ethernet to serial (RS-232) bridge.

[0149] Vehicle 800 may further include a RADAR sensor 860. The RADAR sensor 860 may be used by vehicle 800 for long-range vehicle detection, even in darkness and / or severe weather conditions. The RADAR functional safety level may be ASIL B. In some instances, the RADAR sensor 860 may use CAN and / or bus 802 for control and to access object tracking data (e.g., to transmit data generated by the RADAR sensor 860), with access to Ethernet for accessing raw data. A wide variety of RADAR sensor types may be used. For example, and without limitation, the RADAR sensor 860 may be suitable for front, rear, and side RADAR use. In some instances, a pulse-Doppler RADAR sensor is used.

[0150] The RADAR sensor 860 may include different configurations, such as long-range with a narrow field of view, short-range with a wide field of view, and short-range side coverage. In some instances, long-range RADAR may be used for adaptive cruise control functions. Long-range RADAR systems may provide a wide field of view achieved by two or more independent scans, such as within a 250-meter range. The RADAR sensor 860 may help distinguish between static and moving objects and may be used by ADAS systems for emergency brake assist and forward collision warning. The long-range RADAR sensor may include a monostatic multimodal RADAR with multiple (e.g., six or more) fixed RADAR antennas and high-speed CAN and FlexRay interfaces. In one example with six antennas, the center four antennas may create a focused beam pattern designed to record the vehicle 800's surroundings at high speeds with minimal interference from traffic in adjacent lanes. The other two antennas may widen the field of view, allowing for rapid detection of vehicles entering or leaving the vehicle's lane.

[0151] As an example, a medium-range RADAR system may include a range of up to 860 meters (front) or 80 meters (rear) and a field of view of up to 42 degrees (front) or 850 degrees (rear). A short-range RADAR system may include, but is not limited to, a RADAR sensor designed to be mounted on either end of the rear bumper. When mounted on either end of the rear bumper, such a RADAR sensor system can create two beams that constantly monitor the blind spots behind and adjacent to the vehicle.

[0152] Short-range RADAR systems may be used in ADAS systems for blind spot detection and / or lane change assist.

[0153] Vehicle 800 may further include ultrasonic sensors 862. The ultrasonic sensors 862, which may be positioned on the front, rear, and / or sides of vehicle 800, may be used for parking assistance and / or for creating and updating an occupancy grid. A variety of ultrasonic sensors 862 may be used, and different ultrasonic sensors 862 may be used for different ranges of detection (e.g., 2.5 m, 4 m). The ultrasonic sensors 862 may operate at an ASIL B functional safety level.

[0154] Vehicle 800 may include a LIDAR sensor 864. The LIDAR sensor 864 may be used for object and pedestrian detection, emergency braking, collision avoidance, and / or other functions. The LIDAR sensor 864 may be functional safety level ASIL B. In some instances, vehicle 800 may include multiple (e.g., two, four, six, etc.) LIDAR sensors 864 that can use Ethernet (e.g., to provide data to a Gigabit Ethernet switch).

[0155] In some instances, the LIDAR sensor 864 may be capable of providing a list of objects and their distances in a 360-degree field of view. Commercially available LIDAR sensors 864 may have an advertised range of approximately 800 m, for example, with an accuracy of 2 cm to 3 cm and support for an 800 Mbps Ethernet connection. In some instances, one or more non-protruding LIDAR sensors 864 may be used. In such instances, the LIDAR sensor 864 may be implemented as a small device that may be integrated into the front, rear, sides, and / or corners of the vehicle 800. In such instances, the LIDAR sensor 864 may have a range of 200 m, even for low-reflecting objects, and provide up to a 120-degree horizontal and 35-degree vertical field of view. A front-mounted LIDAR sensor 864 may be configured for a horizontal field of view between 45 and 135 degrees.

[0156] In some instances, LIDAR technology such as 3D flash LIDAR may also be used. 3D flash LIDAR uses a laser flash as a transmitter to illuminate the vehicle's surroundings up to approximately 200 meters. The flash LIDAR unit includes a receptor that records the laser pulse transit time and the reflected light at each pixel, which in turn corresponds to the range from the vehicle to the object. Flash LIDAR may enable a highly accurate and distortion-free image of the surroundings to be generated with every laser flash. In some instances, four flash LIDAR sensors may be deployed, one on each side of the vehicle 800. Available 3D flash LIDAR systems include solid-state 3D steering array LIDAR cameras (e.g., non-scanning LIDAR devices) with no moving parts other than the blower. Flash LIDAR devices may use 5-nanosecond Class I (eye-safe) laser pulses per frame and may capture reflected laser light in the form of a 3D range point cloud and coregistered intensity data. By using flash LIDAR, and because flash LIDAR is a solid-state device with no moving parts, the LIDAR sensor 864 may be less susceptible to motion blur, vibration, and / or shock.

[0157] The vehicle may further include an IMU sensor 866. In some instances, the IMU sensor 866 may be positioned at the center of the rear axle of the vehicle 800. The IMU sensor 866 may include, for example, but not limited to, an accelerometer, a magnetometer, a gyroscope, a magnetic compass, and / or other sensor types. In some instances, such as in a six-axis application, the IMU sensor 866 may include an accelerometer and a gyroscope, while in a nine-axis application, the IMU sensor 866 may include an accelerometer, a gyroscope, and a magnetometer.

[0158] In some embodiments, the IMU sensor 866 may be implemented as a miniature, high-performance GPS-Aided Inertial Navigation System (GPS / INS) that combines micro-electro-mechanical system (MEMS) inertial sensors, a highly sensitive GPS receiver, and advanced Kalman filtering algorithms to provide estimates of position, velocity, and attitude. As such, in some instances, the IMU sensor 866 may enable the vehicle 800 to estimate heading without requiring input from a magnetic sensor by directly observing and correlating changes in velocity from the GPS to the IMU sensor 866. In some instances, the IMU sensor 866 and the GNSS sensor 858 may be combined in a single integrated unit.

[0159] The vehicle may include microphones 896 placed within and / or around the vehicle 800. The microphones 896 may be used for emergency vehicle detection and identification, among other things.

[0160] The vehicle may further include any number of camera types, including stereo cameras 868, wide-view cameras 870, infrared cameras 872, surround cameras 874, long-range and / or mid-range cameras 898, and / or other camera types. The cameras may be used to capture image data around the entire exterior of the vehicle 800. The types of cameras used depend on the embodiment and requirements of the vehicle 800, and any combination of camera types may be used to achieve the required coverage around the vehicle 800. Additionally, the number of cameras may vary depending on the embodiment. For example, the vehicle may include six cameras, seven cameras, ten cameras, twelve cameras, and / or another number of cameras. The cameras may support, by way of example only, Gigabit Multimedia Serial Link (GMSL) and / or Gigabit Ethernet. Each camera is described in further detail herein with reference to FIGS. 8A and 8B.

[0161] The vehicle 800 may further include a vibration sensor 842. The vibration sensor 842 may measure vibrations of vehicle components, such as an axle. For example, a change in vibration may indicate a change in the road surface. In another example, when two or more vibration sensors 842 are used, the difference in vibration may be used to determine friction or slippage of the road surface (e.g., when the difference in vibration is between a powered axle and a free-spinning axle).

[0162] Vehicle 800 may include an ADAS system 838. In some instances, ADAS system 838 may include an SoC. ADAS system 838 may include autonomous / adaptive / automatic cruise control (ACC), cooperative adaptive cruise control (CACC), forward crash warning (FCW), automatic emergency braking (AEB), lane departure warning (LDW), lane keep assist (LKA), blind spot warning (BSW), rear cross-traffic warning (RCTW), collision warning system (CWS), lane centering (LC), and / or other features and functions.

[0163] The ACC system may use a RADAR sensor 860, a LIDAR sensor 864, and / or a camera. The ACC system may include longitudinal ACC and / or lateral ACC. Longitudinal ACC monitors and controls the distance to the vehicle directly ahead of the vehicle 800 and automatically adjusts the vehicle speed to maintain a safe distance from the vehicle ahead. Lateral ACC performs distance keeping and advises the vehicle 800 to change lanes when necessary. Lateral ACC is related to other ADAS applications such as LCA and CWS.

[0164] CACC uses information from other vehicles, which may be received from other vehicles via a wireless link via network interface 824 and / or wireless antenna 826, or indirectly via a network connection (e.g., via the Internet). A direct link may be provided by a vehicle-to-vehicle (V2V) communication link, while an indirect link may be an infrastructure-to-vehicle (I2V) communication link. Generally, V2V communication concepts provide information about the immediately preceding vehicle (e.g., the vehicle directly ahead of vehicle 800 that is in the same lane as vehicle 1100), while I2V communication concepts provide information about traffic further ahead. A CACC system may include either or both I2V and V2V information sources. Given information about vehicles ahead of vehicle 800, CACC may be more reliable, potentially allowing for smoother traffic flow and reducing road congestion.

[0165] The FCW system is designed to warn the driver of hazards so that the driver can take corrective action. The FCW system uses a forward-facing camera and / or RADAR sensor 860 coupled to a dedicated processor, DSP, FPGA, and / or ASIC, electrically coupled to driver feedback such as a display, speaker, and / or vibration components. The FCW system can provide warnings in the form of an audio or visual alarm, vibration, and / or a quick brake pulse.

[0166] An AEB system can detect an imminent forward collision with another vehicle or other object and automatically apply the brakes if the driver does not take corrective action within specified time or distance parameters. The AEB system can use a forward-facing camera and / or RADAR sensor 860 coupled to a dedicated processor, DSP, FPGA, and / or ASIC. When the AEB system detects a hazard, it typically first alerts the driver to take corrective action to avoid the collision; if the driver does not take corrective action, the AEB system can automatically apply the brakes as part of an effort to prevent, or at least mitigate, the effects of the predicted collision. The AEB system may include techniques such as dynamic brake support and / or collision imminent braking.

[0167] The LDW system provides visual, audible, and / or tactile warnings, such as vibration of the steering wheel or seat, to alert the driver when the vehicle 800 crosses a lane marking. The LDW system does not activate when the driver indicates an intentional lane departure by activating a turn signal. The LDW system may use a forward-facing camera coupled to a dedicated processor, DSP, FPGA, and / or ASIC electrically coupled to driver feedback, such as a display, speaker, and / or vibration components.

[0168] The LKA system is a modification of the LDW system, which provides steering input or braking to correct the vehicle 800 if it begins to drift out of its lane.

[0169] The BSW system detects and warns the vehicle driver in the vehicle's blind spot. The BSW system can provide visual, audible, and / or tactile warnings to indicate that merging or changing lanes is unsafe. The system can provide additional warnings when the driver uses a turn signal. The BSW system can use a rear-facing camera and / or RADAR sensor 860 coupled to a dedicated processor, DSP, FPGA, and / or ASIC, electrically coupled to driver feedback, e.g., a display, speaker, and / or vibration component.

[0170] The RCTW system can provide visual, audible, and / or tactile notifications when an object is detected outside the range of the rear camera when the vehicle 800 is backing up. Some RCTW systems include AEB to ensure vehicle brakes are applied to avoid a collision. The RCTW system can use one or more rear-facing RADAR sensors 860 coupled to a dedicated processor, DSP, FPGA, and / or ASIC, electrically coupled to driver feedback, e.g., a display, speaker, and / or vibration components.

[0171] Because conventional ADAS systems alert the driver and allow the driver to determine whether a safety condition truly exists and act accordingly, conventional ADAS systems can be prone to producing false positives that, while not usually catastrophic, can be annoying and distracting to the driver. However, in an autonomous vehicle 800, when results conflict, the vehicle 800 itself must decide whether to heed results from a primary computer or a secondary computer (e.g., the first controller 836 or the second controller 836). For example, in some embodiments, the ADAS system 838 may be a backup and / or secondary computer that provides perception information to a backup computer rationality module. The backup computer rationality monitor can run redundant software on hardware components to detect impairments in perception and dynamic driving tasks. Output from the ADAS system 838 may be provided to a supervisory MCU. When outputs from the primary and secondary computers conflict, the supervisory MCU must decide how to reconcile the conflict to ensure safe operation.

[0172] In some instances, the primary computer may be configured to provide a reliability score to the supervising MCU indicating the reliability of the primary computer in a selected outcome. If the reliability score exceeds a threshold, the supervising MCU may follow the primary computer's instructions regardless of whether the secondary computers provide conflicting or inconsistent results. If the reliability score does not meet the threshold, and the primary and secondary computers provide different (e.g., conflicting) results, the supervising MCU may arbitrate between the computers to determine the appropriate outcome.

[0173] The supervisory MCU may be configured to execute a neural network trained and configured to determine, based on outputs from the primary and secondary computers, conditions under which the secondary computer will provide a false alarm. Thus, the neural network in the supervisory MCU can learn when the output of the secondary computer can be trusted and when it cannot be trusted. For example, when the secondary computer is a RADAR-based FCW system, the neural network in the supervisory MCU can learn when the FCW identifies a metal object that is not actually dangerous, such as a sewer grate or manhole cover, which triggers an alarm. Similarly, when the secondary computer is a camera-based LDW system, the neural network in the supervisory MCU can learn to ignore the LDW when a bicyclist or pedestrian is present and lane departure is, in fact, the safest maneuver. In embodiments including a neural network running on the supervisory MCU, the supervisory MCU may include at least one of a DLA or a GPU suitable for executing the neural network with associated memory. In a preferred embodiment, the supervising MCU may comprise a component of SoC1104 and / or may be included as a component of SoC804.

[0174] In other instances, the ADAS system 838 may include a secondary computer that performs ADAS functions using traditional rules of computer vision. As such, the secondary computer may use classical computer vision rules (if-then), and the presence of a neural network in the supervisory MCU may improve reliability, safety, and performance. For example, diverse implementations and intentional non-identity may make the overall system more fault-tolerant, particularly to failures caused by software (or software-hardware interface) functions. For example, if a software bug or error exists in software running on the primary computer and non-identical software code running on the secondary computer provides the same overall result, the supervisory MCU may have greater confidence that the overall result is correct and that a bug in the software or hardware on the primary computer has not caused a critical error.

[0175] In some instances, the output of the ADAS system 838 can be fed to the perception block of the primary computer and / or the dynamic driving task block of the primary computer. For example, if the ADAS system 838 indicates a forward collision warning due to an object directly ahead, the perception block can use this information when identifying the object. In other instances, the secondary computer can have its own neural network that is trained as described herein, thus reducing the risk of false positives.

[0176] Vehicle 800 may further include an infotainment SoC 830 (e.g., an in-vehicle infotainment system (IVI)). Although illustrated and described as an SoC, the infotainment system need not be an SoC and may include two or more separate components. Infotainment SoC 830 may include a combination of hardware and software that may be used to provide audio (e.g., music, personal digital assistants, navigation instructions, news, radio, etc.), video (e.g., TV, movies, streaming, etc.), telephony (e.g., hands-free calling), network connectivity (e.g., LTE, Wi-Fi, etc.), and / or information services (e.g., navigation system, reverse parking assist, wireless data system, vehicle-related information such as fuel level, total distance traveled, brake fuel level, oil level, door opening / closing, air filter information, etc.) to vehicle 800. For example, the infotainment SoC 830 may be a radio, a disc player, a navigation system, a video player, USB and Bluetooth connectivity, a car computer, in-car entertainment, Wi-Fi, steering wheel audio controls, hands-free voice control, a heads-up display (HUD), an HMI display 834, a telematics device, a control panel (e.g., for controlling and / or interacting with various components, features, and / or systems), and / or other components. The infotainment SoC 830 may further be used to provide information (e.g., visual and / or audible) to a user of the vehicle, such as information from an ADAS system 838, autonomous driving information such as planned vehicle maneuvers, trajectory, surrounding environment information (e.g., intersection information, vehicle information, road information, etc.), and / or other information.

[0177] The infotainment SoC 830 may include GPU functionality. The infotainment SoC 830 may communicate with other devices, systems, and / or components of the vehicle 800 via the bus 802 (e.g., a CAN bus, Ethernet, etc.). In some instances, the infotainment SoC 830 may be coupled to a supervisory MCU so that the infotainment system's GPU can perform some self-drive functions in the event of a failure of the primary controller 836 (e.g., the vehicle's 800 primary and / or backup computer). In such instances, the infotainment SoC 830 may place the vehicle 800 in a Chauffeur safe shutdown mode, as described herein.

[0178] Vehicle 800 may further include an instrument cluster 832 (e.g., a digital dash, an electronic instrument cluster, a digital instrument panel, etc.). The instrument cluster 832 may include a controller and / or a supercomputer (e.g., a separate controller or supercomputer). The instrument cluster 832 may include a set of instruments such as a speedometer, fuel level, oil pressure, a tachometer, an odometer, turn signals, a gear shift position indicator, a seat belt warning light, a parking brake warning light, an engine malfunction light, airbag (SRS) system information, lighting controls, safety system controls, navigation information, etc. In some instances, information may be displayed and / or shared between infotainment SoC 830 and instrument cluster 832. In other words, instrument cluster 832 may be included as part of infotainment SoC 830, or vice versa.

[0179] 8D is a system diagram of communication between the cloud-based server and example autonomous vehicle 800 of FIG. 8A in accordance with some embodiments of the present disclosure. System 876 may include server 878, network 890, and a vehicle including vehicle 800. Server 878 may include multiple GPUs 884(A)-884(H) (collectively referred to herein as GPUs 884), PCIe switches 882(A)-882(H) (collectively referred to herein as PCIe switches 882), and / or CPUs 880(A)-880(B) (collectively referred to herein as CPUs 880). GPUs 884, CPUs 880, and PCIe switches may be interconnected with a high-speed interconnect, such as, but not limited to, an NVLink interface 888 developed by NVIDIA and / or a PCIe connection 886. In some instances, the GPUs 884 are connected via an NVLink and / or NVSwitch SoC, and the GPUs 884 and PCIe switch 882 are connected via a PCIe interconnect. While eight GPUs 884, two CPUs 880, and two PCIe switches are illustrated, this is not intended to be limiting. Depending on the embodiment, each server 878 may include any number of GPUs 884, CPUs 880, and / or PCIe switches. For example, the servers 878 may each include 8, 16, 32, and / or more GPUs 884.

[0180] Server 878 may receive image data from vehicles over network 890, representing images showing unexpected or changed road conditions, such as recently started road construction. Server 878 may transmit neural network 892, updated neural network 892, and / or map information 894, including information about traffic and road conditions, to vehicles over network 890. Updates to map information 894 may include updates to HD map 822, such as information about construction sites, potholes, detours, flooding, and / or other obstacles. In some instances, neural network 892, updated neural network 892, and / or map information 894 may result from new training and / or experience represented in data received from any number of vehicles in the environment and / or based on training performed at a data center (e.g., using server 878 and / or other servers).

[0181] Server 878 may be used to train a machine learning model (e.g., a neural network) based on training data. The training data may be generated by a vehicle and / or generated in a simulation (e.g., using a game engine). In some instances, the training data is tagged (e.g., if the neural network benefits from supervised learning) and / or undergoes other pre-processing, while in other instances, the training data is not tagged and / or pre-processed (e.g., if the neural network does not require supervised learning). The training may be performed according to any one or more classes of machine learning techniques, including, but not limited to, the following classes: supervised training, semi-supervised training, unsupervised training, self-learning, reinforcement learning, federated learning, transfer learning, feature learning (including principal component and cluster analysis), multi-linear subspace learning, manifold learning, representation learning (including preliminary dictionary learning), rule-based machine learning, anomaly detection, and variations or combinations thereof. After the machine-learned model has been traced, it may be used by the vehicle (e.g., transmitted to the vehicle via network 890) and / or it may be used by server 878 to remotely monitor the vehicle.

[0182] In some instances, server 878 can receive data from vehicles and apply the data to state-of-the-art real-time neural networks for real-time intelligent inference. Server 878 can include deep learning supercomputers and / or dedicated AI computers powered by GPUs 884, such as the DGX and DGX Station machines developed by NVIDIA. However, in some instances, server 878 can include deep learning infrastructure that uses only CPU-powered data centers.

[0183] The deep learning infrastructure of server 878 may be capable of rapid real-time inference, which it may use to evaluate and verify the health of the processor, software, and / or associated hardware within vehicle 800. For example, the deep learning infrastructure may receive periodic updates from vehicle 800, such as a sequence of images and / or objects where vehicle 800 was located within the sequence of images (e.g., via computer vision and / or other machine learning object classification techniques). The deep learning infrastructure may run its own neural network to identify objects and compare them to objects identified by vehicle 800; if the results are inconsistent and the infrastructure concludes that the AI ​​within vehicle 800 is not functioning properly, server 878 may send a signal to vehicle 800 commanding its failsafe computer to assume control, notify passengers, and complete a safe parking maneuver.

[0184] For inference, server 878 may include a GPU 884 and one or more programmable inference accelerators (e.g., NVIDIA's TensorRT). The combination of a GPU-powered server and inference acceleration can enable real-time responsiveness. In other instances, such as when less performance is required, servers powered by CPUs, FPGAs, and other processors may be used for inference.

[0185] Exemplary Computing Device 9 is a block diagram of an example computing device 900 suitable for use in implementing some embodiments of the present disclosure. Computing device 900 may include an interconnection system 902 that indirectly or directly couples the following devices: memory 904, one or more central processing units (CPUs) 906, one or more graphics processing units (GPUs) 908, a communication interface 910, input / output (I / O) ports 912, input / output components 914, a power supply 916, one or more presentation components 918 (e.g., displays), and one or more logic units 920. In at least one embodiment, computing device 900 may include one or more virtual machines (VMs), and / or any of its components may include virtual components (e.g., virtual hardware components). In non-limiting examples, one or more of GPUs 908 may include one or more vGPUs, one or more of CPUs 906 may include one or more vCPUs, and / or one or more of logical units 920 may include one or more virtual logical units. As such, computing device 900 may include discrete components (e.g., a full GPU dedicated to computing device 900), virtual components (e.g., a portion of a GPU dedicated to computing device 900), or a combination thereof.

[0186] While the various blocks in FIG. 9 are depicted as connected via interconnection system 902 with lines, this is not intended to be limiting and is merely for clarity. For example, in some embodiments, a presentation component 918, such as a display device, may be considered an I / O component 914 (e.g., if the display is a touch screen). As another example, CPU 906 and / or GPU 908 may include memory (e.g., memory 904 may represent a storage device in addition to the memory of GPU 908, CPU 906, and / or other components). In other words, the computing devices in FIG. 9 are merely exemplary. Categories such as “workstation,” “server,” “laptop,” “desktop,” “tablet,” “client device,” “mobile device,” “handheld device,” “gaming console,” “electronic control unit (ECU),” “virtual reality system,” and / or other device or system types are all intended to be within the scope of the computing devices in FIG. 9 and therefore will not be distinguished from one another.

[0187] Interconnect system 902 may represent one or more links or buses, such as an address bus, a data bus, a control bus, or a combination thereof. Interconnect system 902 may include one or more bus or link types, such as an industry standard architecture (ISA) bus, an extended industry standard architecture (EISA) bus, a video electronics standards association (VESA) bus, a peripheral component interconnect (PCI) bus, a peripheral component interconnect express (PCIe) bus, and / or another type of bus or link. In some embodiments, direct connections exist between components. As an example, CPU 906 may be directly connected to memory 904. Further, CPU 906 may be directly connected to GPU 908. When direct or point-to-point connections exist between components, interconnect system 902 may include a PCIe link to implement the connections. In these examples, a PCI bus need not be included in computing device 900.

[0188] Memory 904 may include any of a variety of computer-readable media. Computer-readable media may be any available media that can be accessed by computing device 900. Computer-readable media may include both volatile and nonvolatile media, and removable and non-removable media. By way of example, and not limitation, computer-readable media may comprise computer storage media and communication media.

[0189] Computer storage media may include both volatile and nonvolatile media, and / or removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules, and / or other data types. For example, memory 904 may store computer-readable instructions (e.g., representing programs and / or program elements), such as an operating system. Computer storage media may include, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that can be accessed by computing device 900. As used herein, computer storage media does not include the signals themselves.

[0190] Computer storage media may embody computer-readable instructions, data structures, program modules, and / or other data types in a modulated data signal such as a carrier wave or other transport mechanism and include any information delivery media. The term "modulated data signal" may refer to a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, computer storage media may include wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, RF, infrared and other wireless media. Combinations of any of the above should also be included within the scope of computer-readable media.

[0191] The CPU 906 may be configured to execute at least some of the computer-readable instructions to control one or more components of the computing device 900 to perform one or more of the methods and / or processes described herein. The CPU 906 may include one or more (e.g., 1, 2, 4, 8, 28, 72, etc.) cores, each capable of simultaneously processing multiple software threads. The CPU 906 may include any type of processor, and may include different types of processors depending on the type of computing device 900 implemented (e.g., a processor with fewer cores for a mobile device and a processor with more cores for a server). For example, depending on the type of computing device 900, the processor may be an Advanced RISC Machines (ARM) processor implemented using Reduced Instruction Set Computing (RISC) or an x86 processor implemented using Complex Instruction Set Computing (CISC). The computing device 900 may include one or more CPUs 906 within one or more microprocessors or auxiliary coprocessors, such as computational coprocessors.

[0192] In addition to or instead of CPU 906, GPU 908 may be configured to execute at least some of the computer-readable instructions to control one or more components of computing device 900 to perform one or more of the methods and / or processes described herein. One or more of GPUs 908 may be integrated GPUs (e.g., with one or more of CPUs 906) and / or one or more of GPUs 908 may be discrete GPUs. In an embodiment, one or more of GPUs 908 may be coprocessors of one or more of CPUs 906. GPU 908 may be used by computing device 900 to render graphics (e.g., 3D graphics) or perform general-purpose computing. For example, GPU 908 may be used with GPGPU (General-Purpose Computing on a GPU) The GPU 908 may be used for graphics processing (GPU). The GPU 908 may include hundreds or thousands of cores capable of processing hundreds or thousands of software threads simultaneously. The GPU 908 may generate pixel data for an output image in response to rendering commands (e.g., rendering commands from the CPU 906 received via a host interface). The GPU 908 may include graphics memory, e.g., display memory, for storing pixel data or any other suitable data, e.g., GPGPU data. The display memory may be included as part of the memory 904. GPU 908 may include two or more GPUs operating in parallel (e.g., via a link). The link may connect the GPUs directly (e.g., using NVLINK) or may connect the GPUs via a switch (e.g., using NVSwitch). When coupled together, each GPU 908 may generate pixel data or GPGPU data for a different portion of the output or for a different output (e.g., a first GPU for a first image and a second GPU for a second image). Each GPU may include its own memory or may share memory with other GPUs.

[0193] In addition to or instead of CPU 906 and / or GPU 908, logic unit 920 may be configured to execute at least some of the computer-readable instructions to control one or more of computing devices 900 to perform one or more of the methods and / or processes described herein. In an embodiment, CPU 906, GPU 908, and / or logic unit 920 may discretely or jointly execute any combination of methods, processes, and / or portions thereof. One or more of logic units 920 may be part of and / or integrated with one or more of CPU 906 and / or GPU 908, and / or one or more of logic units 920 may be discrete components to or otherwise external to CPU 906 and / or GPU 908. In an embodiment, one or more of logic units 920 may be a coprocessor of one or more of CPU 906 and / or GPU 908.

[0194] Examples of logic unit 920 include one or more processing cores and / or components thereof, such as a tensor core (TC), a tensor processing unit (TPU), a pixel visual core (PVC), a vision processing unit (VPU), a graphics processing cluster (GPC), a texture processing cluster (TPC), a streaming multiprocessor (SM), a tree traversal unit (TTU), an artificial intelligence accelerator (AIA), a deep learning accelerator (DLA), an arithmetic logic unit (ALU), an application specific integrated circuit (ASIC), a floating point unit (FPU), an input / output (I / O) element, a peripheral component interconnect (PCI) or peripheral component interconnect express (PCIe) element, and / or the like.

[0195] The communications interface 910 may include one or more receivers, transmitters, and / or transceivers that enable the computing device 900 to communicate with other computing devices over electronic communications networks, including wired and / or wireless communications. The communications interface 910 may include components and functionality to enable communication over any of several different networks, such as a wireless network (e.g., Wi-Fi, Z-Wave, Bluetooth, Bluetooth LE, ZigBee, etc.), a wired network (e.g., communicating over Ethernet or InfiniBand), a low-power wide area network (e.g., LoRaWAN, SigFox, etc.), and / or the Internet.

[0196] The I / O ports 912 may enable the computing device 900 to be logically coupled to other devices, including I / O components 914, presentation components 918, and / or other components, some of which may be built into (e.g., integrated with) the computing device 900. Exemplary I / O components 914 include a microphone, mouse, keyboard, joystick, game pad, game controller, satellite dish, scanner, printer, wireless device, etc. The I / O components 914 may provide a natural user interface (NUI) that processes air gestures, voice, or other physiological input generated by the user. In some cases, the input may be sent to an appropriate network element for further processing. The NUI may implement any combination of voice recognition, stylus recognition, facial recognition, biometric recognition, on-screen and adjacent-screen gesture recognition, air gestures, head and eye tracking, and touch recognition in connection with the display of the computing device 900 (as described in more detail below). The computing device 900 may include a depth camera, such as a stereoscopic camera system, an infrared camera system, an RGB camera system, touch screen technology, and combinations thereof, for gesture detection and recognition. Additionally, the computing device 900 may include an accelerometer or gyroscope (e.g., as part of an inertia measurement unit (IMU)) to enable detection of movement. In some instances, the output of the accelerometer or gyroscope may be used by the computing device 900 to render immersive augmented or virtual reality.

[0197] The power supply 916 may include a hardwired power supply, a battery power supply, or a combination thereof. The power supply 916 may provide power to the computing device 900 to enable the components of the computing device 900 to operate.

[0198] The presentation component 918 may include a display (e.g., a monitor, a touch screen, a television screen, a heads-up display (HUD), other display types, or a combination thereof), speakers, and / or other presentation components. The presentation component 918 can receive data from other components (e.g., the GPU 908, the CPU 906, etc.) and output data (e.g., as images, video, sound, etc.). Subsection Subheadings

[0199] Exemplary Data Center 10 illustrates an example data center 1000 that may be used in at least one embodiment of the present disclosure. The data center 1000 may include a data center infrastructure layer 1010, a framework layer 1020, a software layer 1030, and / or an application layer 1040.

[0200] 10, the data center infrastructure layer 1010 may include a resource orchestrator 1012, grouped computing resources 1014, and node computing resources (“node CRs”) 1016(1) through 1016(N), where “N” represents any positive integer. In at least one embodiment, the node CRs 1016(1) through 1016(N) may include, but are not limited to, any number of central processing units (“CPUs”) or other processors (including accelerators, field programmable gate arrays (FPGAs), graphics processors or graphics processing units (GPUs), etc.), memory devices (e.g., dynamic read-only memory), storage devices (e.g., solid state drives or disk drives), network input / output (“NW I / O”) devices, network switches, virtual machines (“VMs”), power supply modules, and / or cooling modules. In some embodiments, one or more of the nodes CR 1016(1)-1016(N) may correspond to a server having one or more of the computing resources described above. Additionally, in some embodiments, the nodes CR 1016(1)-1016(N) may include one or more virtual components, such as a vGPU, a vCPU, and / or the like, and / or one or more of the nodes CR 1016(1)-1016(N) may correspond to a virtual machine (VM).

[0201] In at least one embodiment, the grouped computing resources 1014 may include distinct groups of node CRs 1016 housed within one or more racks (not shown), or within many racks (also not shown) housed in data centers in various geographic locations. The distinct groups of node CRs 1016 within the grouped computing resources 1014 may include grouped compute, network, memory, or storage resources that may be configured or assigned to support one or more workloads. In at least one embodiment, several node CRs 1016, including CPUs, GPUs, and / or other processors, may be grouped within one or more racks to provide compute resources to support one or more workloads. The one or more racks may also include any number of power supply modules, cooling modules, and / or network switches in any combination.

[0202] The resource orchestrator 1022 may configure or otherwise control one or more nodes CR 1016(1)-1016(N) and / or grouped computing resources 1014. In at least one embodiment, the resource orchestrator 1022 may include a software design infrastructure (“SDI”) management entity for the data center 1000. The resource orchestrator 1022 may include hardware, software, or some combination thereof.

[0203] In at least one embodiment, as shown in FIG. 10 , framework layer 1020 may include a job scheduler 1032, a configuration manager 1034, a resource manager 1036, and / or a distributed file system 1038. Framework layer 1020 may include frameworks to support software 1032 in software layer 1030 and / or one or more applications 1042 in application layer 1040. Software 1032 or applications 1042 may include web-based service software or applications, such as those offered by Amazon Web Services, Google Cloud, and Microsoft Azure, respectively. Framework layer 1020 may be, but is not limited to, a type of free and open-source software web application framework, such as Apache Spark™ (hereinafter, Spark), which can utilize distributed file system 1038 for large-scale data processing (e.g., “big data”). In at least one embodiment, the job scheduler 1032 may include a Spark driver to facilitate scheduling of workloads supported by various tiers of the data center 1000. The configuration manager 1034 may be capable of configuring different tiers, such as the software tier 1030 and the framework tier 1020, which includes Spark and a distributed file system 1038 to support large-scale data processing. The resource manager 1036 may be capable of managing clustered or grouped computing resources mapped or assigned to support the distributed file system 1038 and the job scheduler 1032. In at least one embodiment, the clustered or grouped computing resources may include the grouped computing resources 1014 in the data center infrastructure tier 1010. The resource manager 1036 may manage these mapped or assigned computing resources in conjunction with the resource orchestrator 1012.

[0204] In at least one embodiment, software 1032 included in software layer 1030 may include software used by nodes CR 1016(1)-1016(N), grouped computing resources 1014, and / or at least a portion of distributed file system 1038 of framework layer 1020. The one or more types of software may include, but are not limited to, internet web page searching software, email virus scanning software, database software, and streaming video content software.

[0205] In at least one embodiment, the applications 1042 included in the application layer 1040 may include one or more types of applications used by the nodes CR 1016(1)-1016(N), the grouped computing resources 1014, and / or at least a portion of the distributed file system 1038 of the framework layer 1020. The one or more types of applications may include, but are not limited to, any number of genomics applications, cognitive computing, and machine learning applications including training or inference software, machine learning framework software (e.g., PyTorch, TensorFlow, Caffe, etc.), and / or other machine learning applications used in combination with one or more embodiments.

[0206] In at least one embodiment, any of configuration manager 1034, resource manager 1036, and resource orchestrator 1012 may implement any number and types of self-correcting behaviors based on any amount and type of data obtained in any technically feasible manner. The self-correcting behaviors may free data center operators of data center 1000 from potentially making poor configuration decisions and from potentially avoiding underutilized and / or poorly performing portions of the data center.

[0207] Data center 1000 may include tools, services, software, or other resources for training one or more machine learning models or predicting or inferring information using one or more machine learning models according to one or more embodiments described herein. For example, a machine learning model may be trained by calculating weight parameters according to a neural network architecture using the software and / or computing resources described above with respect to data center 1000. In at least one embodiment, the trained or deployed machine learning model corresponding to one or more neural networks may be used to infer or predict information using the resources described above with respect to data center 1000 by using weight parameters calculated through one or more training techniques, such as, but not limited to, those described herein.

[0208] In at least one embodiment, data center 1000 may use a CPU, an application-specific integrated circuit (ASIC), a GPU, an FPGA, and / or other hardware (or corresponding virtual computing resources) to perform training and / or inference using such resources. Additionally, one or more of the software and / or hardware resources may be configured as a service that allows a user to train or perform inference on information, such as image recognition, speech recognition, or other artificial intelligence services.

[0209] Example Network Environment A network environment suitable for use in implementing embodiments of the present disclosure may include one or more client devices, servers, network-attached storage (NAS), other back-end devices, and / or other device types. The client devices, servers, and / or other device types (e.g., each device) may be implemented on one or more instances of computing device 900 of FIG. 9—e.g., each device may include similar components, features, and / or functionality of computing device 900. Additionally, if a back-end device (e.g., server, NAS, etc.) is implemented, the back-end device may be included as part of data center 1000, an example of which is described in more detail herein with respect to FIG. 10.

[0210] Components of a networked environment may communicate with each other via a network, which may be wired, wireless, or both. A network may include multiple networks or a network of networks. Illustratively, a network may include one or more wide area networks (WANs), one or more local area networks (LANs), one or more public networks such as the Internet and / or the Public Switched Telephone Network (PSTN), and / or one or more private networks. When a network includes a wireless communication network, components such as base stations, communication towers, and even access points (and other components) may provide wireless connectivity.

[0211] Compatible network environments may include one or more peer-to-peer network environments (where the network environment does not include a server) and one or more client-server network environments (where the network environment includes one or more servers). In a peer-to-peer network environment, functionality described herein with respect to a server may be implemented in any number of client devices.

[0212] In at least one embodiment, the network environment may include one or more cloud-based network environments, distributed computing environments, combinations thereof, etc. The cloud-based network environment may include a framework layer, a job scheduler, a resource manager, and a distributed file system implemented on one or more servers, which may include one or more core network servers and / or edge servers. The framework layer may include a framework for supporting software in the software layer and / or one or more applications in the application layer. The software or applications may each include web-based service software or applications. In an embodiment, one or more of the client devices may use the web-based service software or applications (e.g., by accessing the service software and / or applications via one or more application programming interfaces (APIs)). The framework layer may be, but is not limited to, a type of free and open-source software web application framework that can use a distributed file system for large-scale data processing (e.g., “big data”).

[0213] A cloud-based network environment may provide cloud computing and / or cloud storage that performs any combination of the computing and / or data storage functions (or one or more portions thereof) described herein. Any of these various functions may be distributed across multiple locations from a central or core server (e.g., in one or more data centers that may be distributed across a state, region, country, globe, etc.). The core server may designate at least some of its functions to an edge server if the connection of a user (e.g., a client device) is relatively close to the edge server. A cloud-based network environment may be private (e.g., limited to a single organization), public (e.g., available to many organizations), and / or a combination thereof (e.g., a hybrid cloud environment).

[0214] A client device may include at least some of the components, features, and functionality of the exemplary computing device 900 described herein with respect to Figure 9. By way of illustration and not limitation, a client device may be embodied as a personal computer (PC), a laptop computer, a mobile device, a smartphone, a tablet computer, a smart watch, a wearable computer, a personal digital assistant (PDA), an MP3 player, a virtual reality headset, a global positioning system (GPS) or device, a video player, a video camera, a surveillance device or system, a vehicle, a boat, an airship, a virtual machine, a drone, a robot, a handheld communications device, a hospital device, a gaming device or system, an entertainment system, a vehicle computer system, an embedded system controller, a remote control, an appliance, a consumer electronic device, a workstation, an edge device, any combination of these detailed devices, or any other suitable device.

[0215] The present disclosure may be described in the general context of computer code or machine-usable instructions, including computer-executable instructions, such as program modules, being executed by a computer or other machine, such as a personal digital assistant or other handheld device. Generally, program modules, including routines, programs, objects, components, data structures, etc., refer to code that performs particular tasks or implements particular abstract data types. The present disclosure may be implemented in a variety of configurations, including handheld devices, consumer electronics, general-purpose computers, more specialized computing devices, etc. The present disclosure may also be implemented in distributed computing environments where tasks are performed by remote processing devices linked through a communications network.

[0216] As used herein, the term "and / or" in reference to two or more elements should be interpreted to mean one element only or a combination of elements. For example, "element A, element B, and / or element C" may include element A only, element B only, element C only, elements A and B, elements A and C, elements B and C, or elements A, B, and C. Additionally, "at least one of element A or element B" may include at least one of element A, at least one of element B, or at least one of element A and at least one of element B. Furthermore, "at least one of element A and element B" may include at least one of element A, at least one of element B, or at least one of element A and at least one of element B.

[0217] The subject matter of the present disclosure has been described with specificity to meet statutory requirements. However, that description itself is not intended to limit the scope of the disclosure. Rather, the inventors contemplate that the claimed subject matter may be implemented in other ways, including different steps or combinations of steps similar to those described herein, in conjunction with other current or future technologies. Furthermore, although the terms "step" and / or "block" may be used herein to connote different elements of the method used, these terms should not be construed as implying any particular order among the various steps disclosed herein unless and when the order of individual steps is explicitly described.

Claims

1. 1. A method implemented by a processor executing instructions stored in a memory, comprising: applying image data representing one or more two-dimensional (2D) images depicting one or more features of an intersection located within a field of view of at least one sensor to a neural network; using the neural network to process the image data to generate, based at least in part on the image data, data representing one or more three-dimensional (3D) world space locations corresponding respectively to one or more line segments associated with the intersection and one or more confidence values ​​corresponding respectively to semantic information associated with the one or more line segments, wherein the one or more line segments are respectively associated with the one or more features associated with the intersection; decoding the data representing the one or more 3D world space positions to determine a position of each of the one or more line segments; decoding the data representing the one or more confidence values ​​to determine a classification of each of the one or more line segments; performing, by an autonomous machine, one or more actions based at least in part on the location and the classification of each of the one or more line segments; Including, wherein the neural network is trained based at least in part on transforming the one or more 3D world spatial positions into 2D space to generate one or more 2D spatial positions, and comparing the one or more 2D spatial positions with one or more 2D positions of 2D ground truth data, respectively.

2. 2. The method of claim 1 , wherein the data representing the one or more 3D world space positions comprises one or more 3D world space positions of one or more key points corresponding respectively to the one or more line segments, and the one or more key points comprise, for at least one line segment of the one or more line segments, at least one of an endpoint or a center point of the at least one line segment.

3. 3. The method of claim 2, further comprising generating, by said neural network, second data representing a direction vector corresponding to said center point that indicates a direction of travel associated with said at least one line segment.

4. the one or more line segments are two or more line segments, and the method further comprises: generating second data representing direction vectors associated with key points of the two or more line segments using the neural network; generating one or more potential paths between the two or more line segments based at least in part on the direction vector; further comprising The method of claim 1 , wherein the performing the one or more actions comprises selecting one of the one or more potential paths.

5. The method of claim 1 , wherein the neural network is trained based at least in part on the comparing using a loss function.

6. 10. The method of claim 1, wherein the neural network is trained based at least in part on comparing a 3D output of the neural network to one or more geometric consistency constraints associated with intersections using a loss function.

7. 10. The method of claim 1 , wherein the one or more 3D world space locations are predicted in an object space having an origin corresponding to a location on the autonomous machine, the size of the object space being determined based at least in part on an analysis of a plurality of intersections.

8. the neural network includes an encoder portion that processes the image data to calculate a latent space vector; 2. The method of claim 1, wherein the neural network includes a decoder portion that processes the latent space vectors to generate the data representing the one or more 3D world space locations corresponding respectively to the one or more line segments associated with the intersection and the one or more confidence values ​​corresponding respectively to the semantic information associated with the one or more line segments.

9. the at least one sensor includes a first sensor that generates a first subset of the image data and a second sensor that generates a second subset of the image data; the encoder portion of the neural network includes a first encoder instance that processes the first subset of the image data to generate a first portion of the latent space vectors, and a second encoder instance that processes the second subset of the image data to generate a second portion of the latent space vectors; The method of claim 8 , wherein the latent space vector is generated based at least in part on concatenating the first portion and the second portion.

10. The method of claim 9 , wherein the first encoder instance and the second encoder instance are executed in parallel using one or more parallel processing units.

11. 1. A method implemented by a processor executing instructions stored in a memory, comprising: applying first data representing a first representation of a two-dimensional (2D) space to a neural network, the first data being generated using at least one sensor, the first data being image data representing one or more 2D images depicting one or more features of an intersection located within a field of view of the at least one sensor; using the neural network that processes the first data to generate, based at least in part on the first data, second data representing a second representation of one or more three-dimensional (3D) world space locations corresponding respectively to one or more line segments associated with the intersection, the one or more line segments being respectively associated with the one or more features associated with the intersection; transforming the one or more 3D world space locations into the 2D space to generate one or more 2D space locations associated with the first representation; comparing the one or more 2D spatial locations with one or more 2D spatial ground truth locations in the first representation, respectively; updating one or more parameters of the neural network based at least in part on the comparing step; A method comprising:

12. The comparing step is performed using a loss function, and the method further comprises: comparing the one or more 3D world space positions to one or more geometric consistency constraints using another loss function; 12. The method of claim 11 , wherein the updating the one or more parameters of the neural network is further based at least in part on the comparing the one or more 3D world space positions to the one or more geometric consistency constraints.

13. The method described in claim 12, wherein the one or more geometric consistency constraints include at least one of a smoothness constraint corresponding to the one or more line segments, a straightness constraint corresponding to the one or more line segments, or a lane width constraint corresponding to the one or more line segments.

14. The method of claim 11 , wherein the converting step is based at least in part on at least one of intrinsic or extrinsic parameters of the at least one sensor.

15. the neural network includes an encoder portion that processes the first data to calculate a latent space vector; 12. The method of claim 11, wherein the neural network includes a decoder portion that processes the latent space vectors to generate the second data representing the one or more 3D world space locations.

16. applying image data representing one or more two-dimensional (2D) images depicting one or more features of an intersection located within a field of view of the at least one sensor to a neural network; using the neural network to process the image data to generate, based at least in part on the image data, data representing one or more three-dimensional (3D) world space locations corresponding respectively to one or more line segments associated with the intersection, the one or more line segments being respectively associated with the one or more features associated with the intersection; performing one or more actions associated with controlling an autonomous machine based at least in part on the one or more 3D world space positions corresponding to the one or more line segments, respectively.

1. A processor comprising one or more circuits for: and wherein the neural network is trained based at least in part on transforming the one or more 3D world spatial positions into 2D space to generate one or more 2D spatial positions and comparing the one or more 2D spatial positions with one or more 2D positions of 2D ground truth data, respectively.

17. the neural network includes an encoder portion that processes the image data to calculate a latent space vector; 17. The processor of claim 16, wherein the neural network includes a decoder portion that processes the latent space vectors to generate the data representing the one or more 3D world space locations corresponding respectively to the one or more line segments associated with the intersection.

18. the at least one sensor includes a first sensor that generates a first subset of the image data and a second sensor that generates a second subset of the image data; the encoder portion of the neural network includes a first encoder instance that processes the first subset of the image data to generate a first portion of the latent space vectors, and a second encoder instance that processes the second subset of the image data to generate a second portion of the latent space vectors; 20. The processor of claim 17, wherein the latent space vector is generated based at least in part on concatenating the first portion and the second portion.

19. 17. The processor of claim 16, wherein the neural network is trained based at least in part on the comparing using a loss function.

20. 17. The processor of claim 16, wherein the neural network is trained based at least in part on comparing a 3D output of the neural network to one or more geometric consistency constraints associated with intersections using a loss function.

21. the processor: Control systems for autonomous or semi-autonomous machines, Perception systems for autonomous or semi-autonomous machines, a system for performing a simulation operation; a system for performing deep learning operations; Systems implemented using edge devices, Systems implemented using robots, a system incorporating one or more virtual machines (VMs); a system at least partially implemented in a data center; or A system implemented at least in part using cloud computing resources 17. The processor of claim 16, included in at least one of:

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