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公开(公告)号：US20220204009A1
公开(公告)日：2022-06-30
申请号：US17136489
申请日：2020-12-29
Applicant: WAYMO LLC
Inventor： Brian Choi , Aleksandar Rumenov Gabrovski , Yang-Hua Chu , Harrison McKenzie Chapter , David Richardson
Abstract: A simulation for sensor data may be evaluated and used for future simulations for an autonomous vehicle software. The method includes receiving log data collected for an environment along a given run for a given vehicle, using a software for autonomous driving to perform a simulated run of the given run using logged sensor data from the log data and environment data constructed using the log data, and determining first details regarding detection of objects during the given run using logged sensor data. The method also includes using the software to run a simulation of one or more detection devices on a simulated vehicle driving along the given run to obtain simulated sensor data, and determining second details regarding detection of objects using the simulated sensor data. Metrics may then be extracted from the first details and the second details, and the simulation may be evaluated based on the metrics.
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公开(公告)号：US20220058309A1
公开(公告)日：2022-02-24
申请号：US16947926
申请日：2020-08-24
Applicant: Waymo LLC
Inventor： Arthur Dov Safira , Harrison Lee McKenzie Chapter , Colin Andrew Braley , Hui Seong Son , Aleksandar Rumenov Gabrovski , Brian Choung Choi
Abstract: Aspects and implementations of the present disclosure address shortcomings of existing technology by enabling autonomous vehicle simulations based on retro-reflection optical data. The subject matter of this specification can be implemented in, among other things, a method that involves initiating a simulation of an environment of an autonomous driving vehicle, the simulation including a plurality of simulated objects, each having an identification of a material type of the respective object. The method can further involve accessing simulated reflection data based on the plurality of simulated objects and retro-reflectivity data for the material types of the simulated objects, and determining, using an autonomous vehicle control system for the autonomous vehicle, a driving path relative to the simulated objects, the driving path based on the simulated reflection data.
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公开(公告)号：US20240383499A1
公开(公告)日：2024-11-21
申请号：US18780296
申请日：2024-07-22
Applicant: Waymo LLC
Inventor： Michael Buchanan , Aleksandar Rumenov Gabrovski , Colin Andrew Braley , David Yonchar Margines
IPC: B60W60/00 , B60W30/095 , B60W30/18 , G06V20/58 , G06V20/64
Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.
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公开(公告)号：US20240281575A1
公开(公告)日：2024-08-22
申请号：US18627436
申请日：2024-04-04
Applicant: Waymo LLC
Inventor： Arthur Dov Safira , Harrison Lee McKenzie Chapter , Colin Andrew Braley , Hui Seong Son , Aleksandar Rumenov Gabrovski , Brian Choung Choi
CPC classification number: G06F30/20 , B60W50/00 , B60W60/001 , G01S17/10 , G01S17/89 , B60W2050/0004 , B60W2050/0019
Abstract: Aspects and implementations of the present disclosure address shortcomings of existing technology by enabling autonomous vehicle simulations based on retro-reflection optical data. The subject matter of this specification can be implemented in, among other things, a method that involves initiating a simulation of an environment of an autonomous driving vehicle, the simulation including a plurality of simulated objects, each having an identification of a material type of the respective object. The method can further involve accessing simulated reflection data based on the plurality of simulated objects and retro-reflectivity data for the material types of the simulated objects, and determining, using an autonomous vehicle control system for the autonomous vehicle, a driving path relative to the simulated objects, the driving path based on the simulated reflection data.
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Patent Agency Ranking
公开(公告)号：US11544173B1
公开(公告)日：2023-01-03
申请号：US17120834
申请日：2020-12-14
Applicant: Waymo LLC
Inventor： Aleksandar Rumenov Gabrovski
Abstract: The disclosure relate to detecting performance regressions in software used to control autonomous vehicles. For instance, a simulation may be run using a first version of the software. While the simulation is running, CPU and memory usage by one or more functions of the first version of the software may be sampled. The sampled CPU and memory usage may be compared to CPU or memory usage by each of the one or more functions in a plurality of simulations each running a corresponding second version of the software. Based on the comparisons, an anomaly corresponding to a performance regression in the first version of the software relating to one of the one or more functions may be identified. In response to detecting the anomaly, the first version of the software and the one of the one or more functions may be flagged for review.
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公开(公告)号：US20220097726A1
公开(公告)日：2022-03-31
申请号：US17036926
申请日：2020-09-29
Applicant: Waymo LLC
Inventor： Michael Buchanan , Aleksandar Rumenov Gabrovski , Colin Andrew Braley , David Yonchar Margines
IPC: B60W60/00 , G05D1/02 , B60W30/095 , B60W30/18 , G06K9/00
Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.
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公开(公告)号：US12071156B2
公开(公告)日：2024-08-27
申请号：US17036926
申请日：2020-09-29
Applicant: Waymo LLC
Inventor： Michael Buchanan , Aleksandar Rumenov Gabrovski , Colin Andrew Braley , David Yonchar Margines
CPC classification number: B60W60/001 , B60W30/0956 , B60W30/18163 , G05D1/0214 , G05D1/0246 , G06V20/58 , B60W2420/403 , B60W2554/4026 , B60W2554/4029 , G06V20/64
Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.
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公开(公告)号：US11954411B2
公开(公告)日：2024-04-09
申请号：US16947926
申请日：2020-08-24
Applicant: Waymo LLC
Inventor： Arthur Dov Safira , Harrison Lee McKenzie Chapter , Colin Andrew Braley , Hui Seong Son , Aleksandar Rumenov Gabrovski , Brian Choung Choi
CPC classification number: G06F30/20 , B60W50/00 , B60W60/001 , G01S17/10 , G01S17/89 , B60W2050/0004 , B60W2050/0019
Abstract: Aspects and implementations of the present disclosure address shortcomings of existing technology by enabling autonomous vehicle simulations based on retro-reflection optical data. The subject matter of this specification can be implemented in, among other things, a method that involves initiating a simulation of an environment of an autonomous driving vehicle, the simulation including a plurality of simulated objects, each having an identification of a material type of the respective object. The method can further involve accessing simulated reflection data based on the plurality of simulated objects and retro-reflectivity data for the material types of the simulated objects, and determining, using an autonomous vehicle control system for the autonomous vehicle, a driving path relative to the simulated objects, the driving path based on the simulated reflection data.
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公开(公告)号：US10896116B1
公开(公告)日：2021-01-19
申请号：US16165119
申请日：2018-10-19
Applicant: Waymo LLC
Inventor： Aleksandar Rumenov Gabrovski
IPC: G06F17/50 , H04L12/26 , G06F9/22 , G06F9/54 , G06F11/36 , G06F8/71 , G06F11/34 , G06F11/26 , G06F9/48 , G06F11/263
Abstract: The disclosure relate to detecting performance regressions in software used to control autonomous vehicles. For instance, a simulation may be run using a first version of the software. While the simulation is running, CPU and memory usage by one or more functions of the first version of the software may be sampled. The sampled CPU and memory usage may be compared to CPU or memory usage by each of the one or more functions in a plurality of simulations each running a corresponding second version of the software. Based on the comparisons, an anomaly corresponding to a performance regression in the first version of the software relating to one of the one or more functions may be identified. In response to detecting the anomaly, the first version of the software and the one of the one or more functions may be flagged for review.
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