公开(公告)号：US11514310B2

公开(公告)日：2022-11-29

申请号：US16231297

申请日：2018-12-21

Applicant: Waymo LLC

Inventor： Junhua Mao ,  Lo Po Tsui ,  Congcong Li ,  Edward Stephen Walker, Jr.

IPC: G06N3/08 ,  G06N3/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training a classifier to detect open vehicle doors. One of the methods includes obtaining a plurality of initial training examples, each initial training example comprising (i) a sensor sample from a collection of sensor samples and (ii) data classifying the sensor sample as characterizing a vehicle that has an open door; generating a plurality of additional training examples, comprising, for each initial training example: identifying, from the collection of sensor samples, one or more additional sensor samples that were captured less than a threshold amount of time before the sensor sample in the initial training example was captured; and training the machine learning classifier on first training data that includes the initial training examples and the additional training examples to generate updated weights for the machine learning classifier.

公开(公告)号：US11861481B2

公开(公告)日：2024-01-02

申请号：US16726060

申请日：2019-12-23

Applicant: Waymo LLC

Inventor： Zijian Guo ,  Nichola Abdo ,  Junhua Mao ,  Congcong Li ,  Edward Stephen Walker, Jr.

IPC: G06F16/53 ,  G06N3/042 ,  G06F16/538 ,  G06F16/535 ,  G05D1/00 ,  G05D1/02 ,  G06N3/08 ,  G06N3/045

CPC classification number: G06N3/042 ,  G05D1/0088 ,  G05D1/0221 ,  G06F16/535 ,  G06F16/538 ,  G06N3/045 ,  G06N3/08 ,  G05D2201/0213

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for searching an autonomous vehicle sensor data repository. One of the methods includes maintaining a collection of sensor samples and, for each sensor sample, an embedding of the sensor sample; receiving a request specifying a query sensor sample, wherein the query sensor sample characterizes a query environment region; and identifying, from the collection of sensor samples, a plurality of relevant sensor samples that characterize similar environment regions to the query environment region, comprising: processing the query sensor sample through the embedding neural network to generate a query embedding; and identifying, from sensor samples in a subset of the sensor samples in the collection, a plurality of sensor samples that have embeddings that are closest to the query embedding.

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.