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    Neural networks for object detection and characterization
    121.
    发明授权
    Neural networks for object detection and characterization 有权

    公开(公告)号：US11928866B2

    公开(公告)日：2024-03-12

    申请号：US17567729

    申请日：2022-01-03

    Applicant: Waymo LLC

    Inventor： Abhijit Ogale ,  Alexander Krizhevsky

    IPC: G06K9/00 ,  G05D1/00 ,  G06N3/045 ,  G06N3/08 ,  G06N3/084 ,  G06V20/58

    CPC classification number: G06V20/58 ,  G05D1/0221 ,  G06N3/045 ,  G06N3/08 ,  G06N3/084 ,  B60R2300/8093

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for selecting locations in an environment of a vehicle where objects are likely centered and determining properties of those objects. One of the methods includes receiving an input characterizing an environment external to a vehicle. For each of a plurality of locations in the environment, a respective first object score that represents a likelihood that a center of an object is located at the location is determined. Based on the first object scores, one or more locations from the plurality of locations are selected as locations in the environment at which respective objects are likely centered. Object properties of the objects that are likely centered at the selected locations are also determined.

    Assessing surprise for autonomous vehicles
    122.
    发明授权
    Assessing surprise for autonomous vehicles 有权

    公开(公告)号：US11926332B1

    公开(公告)日：2024-03-12

    申请号：US17946973

    申请日：2022-09-16

    Applicant: Waymo LLC

    Inventor： Johan Engstrom ,  Jared Russell

    IPC: B60W50/00 ,  B60W30/18 ,  G05B13/04 ,  G05D1/00 ,  G05D1/02

    CPC classification number: B60W50/0098 ,  B60W30/18 ,  G05B13/048 ,  G05D1/0088 ,  G05D1/0212 ,  B60W2050/0014 ,  B60W2400/00 ,  G05D2201/0213

    Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a first probability distribution may be generated for the vehicle at a first future point in time using a generative model for predicting expected behaviors of objects and a set of characteristics for the vehicle at an initial time expected to be perceived by an observer. Planning system software of the vehicle may be used to generate a trajectory for the vehicle to follow. A second probability distribution may be generated for a second future point in time using the generative model based on the trajectory and a set of characteristics for the vehicle at the first future point expected to be perceived by the observer. A surprise assessment may be generated by comparing the first probability distribution to the second probability distribution. The vehicle may be controlled based on the surprise assessment.

    Sensor assembly
    125.
    外观设计
    Sensor assembly 有权

    公开(公告)号：USD1016636S1

    公开(公告)日：2024-03-05

    申请号：US29820747

    申请日：2021-12-23

    Applicant: Waymo LLC

    Designer： YooJung Ahn ,  Toshihiro Fujimura ,  Jared Gross ,  Solomon Lyman

    Abstract: The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawing(s) will be provided by the Office upon request and payment of the necessary fee.
    FIG. 1 is a top, front, left perspective view of a first embodiment of the claimed design for a sensor assembly;
    FIG. 2 is a front view thereof;
    FIG. 3 is a back view thereof;
    FIG. 4 is a right side view thereof;
    FIG. 5 is a left side view thereof;
    FIG. 6 is a top view thereof;
    FIG. 7 is a bottom view thereof;
    FIG. 8 is a top, front, left perspective view of a second embodiment of the claimed design for a sensor assembly;
    FIG. 9 is a front view thereof;
    FIG. 10 is a back view thereof;
    FIG. 11 is a right side view thereof;
    FIG. 12 is a left side view thereof;
    FIG. 13 is a top view thereof;
    FIG. 14 is a bottom view thereof;
    FIG. 15 is a top, front, left perspective view of a third embodiment of the claimed design for a sensor assembly;
    FIG. 16 is a front view thereof;
    FIG. 17 is a back view thereof;
    FIG. 18 is a right side view thereof;
    FIG 19 is a left side view thereof;
    FIG. 20 is a top view thereof;
    FIG. 21 is a bottom view thereof;
    FIG. 22 is a top, front, left perspective view of a fourth embodiment of the claimed design for a sensor assembly;
    FIG. 23 is a front view thereof;
    FIG. 24 is a back view thereof;
    FIG. 25 is a right side view thereof;
    FIG. 26 is a left side view thereof;
    FIG. 27 is a top view thereof;
    FIG. 28 is a bottom view thereof;
    FIG. 29 is a top, front, left perspective view of a fifth embodiment of the claimed design for a sensor assembly;
    FIG. 30 is a front view thereof;
    FIG. 31 is a back view thereof;
    FIG. 32 is aright side view thereof;
    FIG. 33 is a left side view thereof;
    FIG. 34 is a top view thereof;
    FIG. 35 is a bottom view thereof;
    FIG. 36 is a top, front, left perspective view of a sixth embodiment of the claimed design for a sensor assembly;
    FIG. 37 is a front view thereof;
    FIG. 38 is a back view thereof;
    FIG. 39 is a right side view thereof;
    FIG. 40 is a left side view thereof;
    FIG. 41 is a top view thereof;
    FIG. 42 is a bottom view thereof;
    FIG. 43 is a top, front, left perspective view of a seventh embodiment of the claimed design for a sensor assembly;
    FIG. 44 is a front view thereof;
    FIG. 45 is a back view thereof;
    FIG. 46 is a right side view thereof;
    FIG. 47 is a left side view thereof;
    FIG. 48 is a top view thereof; and,
    FIG. 49 is a bottom view thereof.
    The broken lines showing the remainder of the sensor assembly depict environmental structure and form no part of the claimed design.

    Annotated surfel maps
    129.
    发明授权
    Annotated surfel maps 有权

    公开(公告)号：US11915490B2

    公开(公告)日：2024-02-27

    申请号：US17819883

    申请日：2022-08-15

    Applicant: Waymo LLC

    Inventor： Dragomir Anguelov ,  Colin Andrew Braley ,  Christoph Sprunk

    IPC: G06V20/56 ,  G06F18/214 ,  G06F18/2415

    CPC classification number: G06V20/56 ,  G06F18/214 ,  G06F18/2415

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for the generation and use of a surfel map with semantic labels. One of the methods includes receiving a surfel map that includes a plurality of surfels, wherein each surfel has associated data that includes one or more semantic labels; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more surfels corresponding to the one or more locations of the obtained sensor data; identifying one or more semantic labels for the one or more surfels corresponding to the one or more locations of the obtained sensor data; and performing, for each surfel corresponding to the one or more locations of the obtained sensor data, a label-specific detection process for the surfel.

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