公开(公告)号：US11782158B2

公开(公告)日：2023-10-10

申请号：US16229370

申请日：2018-12-21

Applicant: Waymo LLC

Inventor： David Lee ,  Xiaohan Jin ,  Congcong Li ,  Nichola Abdo

IPC: G01S17/58 ,  G01S17/06 ,  G01S17/89 ,  G06N3/08 ,  G06V10/82 ,  G06N7/01 ,  G06T7/20 ,  G06V20/58 ,  B60W30/095

CPC classification number: G01S17/58 ,  G01S17/06 ,  G01S17/89 ,  G06N3/08 ,  G06N7/01 ,  G06V10/82 ,  B60W30/0956 ,  G06T7/20 ,  G06T2207/10028 ,  G06T2207/30241 ,  G06T2207/30252 ,  G06V20/58

Abstract: Systems, methods, devices, and techniques for generating object-heading estimations. In one example, methods include actions of receiving sensor data representing measurements of an object that was detected within a proximity of a vehicle; processing the sensor data with one or more preliminary heading estimation subsystems to respectively generate one or more preliminary heading estimations for the object; processing two or more inputs with a second heading estimation subsystem to generate a refined heading estimation for the object, the two or more inputs including the one or more preliminary heading estimations for the object; and providing the refined heading estimation for the object to an external processing system.

公开(公告)号：US20230162508A1

公开(公告)日：2023-05-25

申请号：US17531230

申请日：2021-11-19

Applicant: Waymo LLC

Inventor： Fei Xia ,  Bing Wu ,  David Lee ,  Zijian Guo

IPC: G06K9/00 ,  G06K9/46 ,  G06K9/62 ,  G06K9/20

CPC classification number: G06K9/00791 ,  G06K9/46 ,  G06K9/628 ,  G06K9/2054 ,  G06K9/6256 ,  G06N20/00

Abstract: The described aspects and implementations enable vehicle light classification in autonomous vehicle (AV) applications. In one implementation, disclosed is a method and a system to perform the method that includes, obtaining, by a processing device, first image data characterizing a driving environment of an autonomous vehicle (AV). The processing device may identify, based on the image data, a vehicle within the driving environment. The processing device may process the image data using one or more trained machine-learning models (MLMs) to determine a state of one or more lights of the vehicle and cause an update to a driving path of the AV based on the determined state of the lights.

公开(公告)号：US20230072020A1

公开(公告)日：2023-03-09

申请号：US17940665

申请日：2022-09-08

Applicant: Waymo LLC

Inventor： Andre Liang Cornman ,  David Lee ,  Yang Song ,  Zijian Guo ,  Edward Stephen Walker, Jr. ,  Yuanfang Wang ,  Zhengli Zhao ,  Hsu-kuang Chiu

IPC: B60W60/00 ,  G06V20/58

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for open vehicle doors prediction using a neural network model. One of the methods includes: obtaining sensor data (i) that includes a portion of a point cloud generated by a laser sensor of an autonomous vehicle and (ii) that characterizes a vehicle that is in a vicinity of the autonomous vehicle in an environment; and processing the sensor data using an open door prediction neural network to generate an open door prediction that predicts a likelihood score that the vehicle has an open door.