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公开(公告)号：US10247854B2
公开(公告)日：2019-04-02
申请号：US15449097
申请日：2017-03-03
Applicant: Waymo LLC
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC: G06F19/00 , G01W1/00 , G01W1/14 , G01N21/47 , G01S17/02 , G01S17/87 , G05D1/00 , G05D1/02 , H04N7/18
Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
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公开(公告)号：US09767369B2
公开(公告)日：2017-09-19
申请号：US15173347
申请日：2016-06-03
Applicant: Waymo LLC
Inventor： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
IPC: G06T9/00 , G06K9/00 , B60R11/04 , G06K9/62 , G01C21/00 , H04N19/117 , H04N19/136 , H04N19/17 , H04N19/167 , H04N19/85 , B60R11/00
CPC classification number: G06K9/00805 , B60R11/04 , B60R2011/0026 , B60R2011/004 , B60R2011/008 , G01C21/00 , G01C21/30 , G06K9/00791 , G06K9/6202 , G06T9/00 , H04N19/117 , H04N19/136 , H04N19/167 , H04N19/17 , H04N19/85
Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
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公开(公告)号：US11487046B2
公开(公告)日：2022-11-01
申请号：US16277436
申请日：2019-02-15
Applicant: Waymo LLC
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
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公开(公告)号：US11443525B1
公开(公告)日：2022-09-13
申请号：US16747380
申请日：2020-01-20
Applicant: Waymo LLC
Inventor： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
IPC: G06V20/58 , G01C21/00 , G06T9/00 , H04N19/17 , H04N19/117 , B60R11/04 , H04N19/85 , H04N19/167 , H04N19/136 , G06V10/75 , B60R11/00 , G06V20/56
Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
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公开(公告)号：US10922903B2
公开(公告)日：2021-02-16
申请号：US15704194
申请日：2017-09-14
Applicant: Waymo LLC
Inventor： Dmitri Dolgov , Joshua Herbach
Abstract: Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating in a rewind mode. In the rewind mode, the system may be configured to provide information to a remote assistance operated based on a remote-assistance triggering criteria being met, such as determining that the autonomous vehicle has been stopped for a period of time. When the triggering criteria is met, the remote assistance system may provide data from the time leading up to when the remote-assistance triggering criteria was met that was capture of the environment of autonomous vehicle to the remote assistance operator. Based on viewing the data, the remote assistance operator may provide and input to the system that causes a command to be issued to the autonomous vehicle.
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Patent Agency Ranking
公开(公告)号：US20190019349A1
公开(公告)日：2019-01-17
申请号：US15704194
申请日：2017-09-14
Applicant: Waymo LLC
Inventor： Dmitri Dolgov , Joshua Herbach
Abstract: Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating in a rewind mode. In the rewind mode, the system may be configured to provide information to a remote assistance operated based on a remote-assistance triggering criteria being met, such as determining that the autonomous vehicle has been stopped for a period of time. When the triggering criteria is met, the remote assistance system may provide data from the time leading up to when the remote-assistance triggering criteria was met that was capture of the environment of autonomous vehicle to the remote assistance operator. Based on viewing the data, the remote assistance operator may provide and input to the system that causes a command to be issued to the autonomous vehicle.
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公开(公告)号：US09720412B1
公开(公告)日：2017-08-01
申请号：US14865660
申请日：2015-09-25
Applicant: Waymo LLC
Inventor： Jiajun Zhu , Christopher Urmson , David I. Ferguson , Nathaniel Fairfield , Dmitri Dolgov
CPC classification number: G05D1/0231 , B60W30/00 , G05D1/0246 , G05D2201/0213
Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.
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公开(公告)号：US12099359B1
公开(公告)日：2024-09-24
申请号：US18447473
申请日：2023-08-10
Applicant: Waymo LLC
Inventor： Jiajun Zhu , Christopher Urmson , David I. Ferguson , Nathaniel Fairfield , Dmitri Dolgov
CPC classification number: G05D1/0088 , B60W30/00 , G05D1/021 , G05D1/0231 , G05D1/0246
Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.
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公开(公告)号：USRE47002E1
公开(公告)日：2018-08-21
申请号：US15367112
申请日：2016-12-01
Applicant: Waymo LLC
Inventor： David I. Ferguson , Dmitri Dolgov
CPC classification number: G05D1/0212 , B62D15/0285 , G05D1/0274 , G05D2201/0213
Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.
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公开(公告)号：US12223778B2
公开(公告)日：2025-02-11
申请号：US17143706
申请日：2021-01-07
Applicant: Waymo LLC
Inventor： Dmitri Dolgov , Joshua Herbach
Abstract: Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating in a rewind mode. In the rewind mode, the system may be configured to provide information to a remote assistance operated based on a remote-assistance triggering criteria being met, such as determining that the autonomous vehicle has been stopped for a period of time. When the triggering criteria is met, the remote assistance system may provide data from the time leading up to when the remote-assistance triggering criteria was met that was capture of the environment of autonomous vehicle to the remote assistance operator. Based on viewing the data, the remote assistance operator may provide and input to the system that causes a command to be issued to the autonomous vehicle.
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