公开(公告)号：US11837093B2

公开(公告)日：2023-12-05

申请号：US17518637

申请日：2021-11-04

Applicant: Waymo LLC

Inventor： Nirmal Patel ,  Peter Crandall ,  Julien Mercay

IPC: G08G1/137 ,  G01C21/36 ,  G05D1/02 ,  G06T19/00 ,  G08G1/16 ,  G06V20/56 ,  G05D1/00 ,  B60W30/18 ,  B60W50/14 ,  G06T15/20

CPC classification number: G08G1/137 ,  G01C21/3635 ,  G01C21/3647 ,  G01C21/3658 ,  G05D1/0212 ,  G05D1/0214 ,  G06T19/006 ,  G06V20/56 ,  G06V20/588 ,  G08G1/167 ,  B60W30/18163 ,  B60W2050/146 ,  G05D1/0088 ,  G06T15/20 ,  G06T2207/30252

Abstract: Aspects of the disclosure relate providing a lane change notification when a vehicle is to perform a lane change. One or more computing devices may generate and display a video, where the video is generated from a perspective of a virtual camera at a default position and default pitch. The one or more computing devices may receive an indication that the vehicle is to perform a lane change from a first lane to a second lane and adjust, after the vehicle receives the indication, the default position and default pitch of the virtual camera to an updated position further above the vehicle relative to ground than the default position and an updated pitch directed more towards the ground than the default pitch. The video may be generated and displayed from the perspective of the virtual camera at the updated position and updated pitch.

公开(公告)号：US11836955B2

公开(公告)日：2023-12-05

申请号：US17150228

申请日：2021-01-15

Applicant: Waymo LLC

Inventor： Zhinan Xu ,  Maya Kabkab ,  Chen Wu ,  Woojong Koh

IPC: G06V10/778 ,  G05D1/02 ,  G06T7/60 ,  G05D1/00 ,  G06T7/90 ,  G06V20/20 ,  G06V20/58

CPC classification number: G06V10/7784 ,  G05D1/0088 ,  G05D1/0246 ,  G06T7/60 ,  G06T7/90 ,  G06V20/20 ,  G06V20/582 ,  G06T2207/30252

Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.

公开(公告)号：US11831868B2

公开(公告)日：2023-11-28

申请号：US17817579

申请日：2022-08-04

Applicant: Waymo LLC

Inventor： Vadim Furman ,  Andrew Hughes Chatham ,  Abhijit Ogale ,  Dmitri Dolgov

IPC: G06T9/00 ,  H04N19/117 ,  B60R11/04 ,  H04N19/136 ,  H04N19/17 ,  H04N19/167 ,  H04N19/85 ,  G06V20/58 ,  G01C21/00 ,  B60R11/00 ,  G06V20/56

CPC classification number: H04N19/117 ,  B60R11/04 ,  G01C21/3896 ,  G06T9/00 ,  G06V20/58 ,  H04N19/136 ,  H04N19/167 ,  H04N19/17 ,  H04N19/85 ,  B60R2011/004 ,  B60R2011/008 ,  B60R2011/0026 ,  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 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.

公开(公告)号：US11829152B2

公开(公告)日：2023-11-28

申请号：US18049134

申请日：2022-10-24

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G05D1/02 ,  G08G1/16 ,  B60R1/00

CPC classification number: G05D1/0231 ,  B60R1/00 ,  G05D1/0214 ,  G08G1/167 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307

Abstract: Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

公开(公告)号：US20230375362A1

公开(公告)日：2023-11-23

申请号：US18228720

申请日：2023-08-01

Applicant: WAYMO LLC

Inventor： Salil Pandit ,  Nirmal Patel ,  Guilherme Villar ,  Matthew Corey Hall

IPC: G01C21/36

CPC classification number: G01C21/3682 ,  G01C21/367 ,  G01C21/3617 ,  G01C21/3694

Abstract: The technology involves communicating the reachability status associated with an autonomous vehicle to a user such as a rider within the vehicle, a person awaiting pickup, or a customer that scheduled a package deliver. Reachability information about pickup and/or drop off locations is presentable via an app on a user device, which helps set expectations with customers about where the vehicle is most likely to be able to perform a pickup and/or drop off. This may include indicating how much variance there may be based on current congestion, parking or idling regulations, or weather conditions. The reachability information may be presented via one or more visualization tools to indicate the uncertainty and/or likely final location. Presenting such contextual information may be done based on real time information, and the presentation may be updated as needed. Historical information about the location may also be used to lower the level of uncertainty.

公开(公告)号：US11816992B2

公开(公告)日：2023-11-14

申请号：US16935266

申请日：2020-07-22

Applicant: Waymo LLC

Inventor： Vijaysai Patnaik ,  Robert Chen

IPC: G08G1/00 ,  G08G1/0967

CPC classification number: G08G1/207 ,  G08G1/096775 ,  G08G1/22

Abstract: The disclosure relates to managing a fleet of autonomous vehicles. For instance, a method may include receiving, from a plurality of the autonomous vehicles of the fleet, reports identifying locations of detected puddles. A miles per puddle rate may be determined based on the received reports. An operating policy for the fleet may be determined based on the miles per puddle rate. An instruction may be sent to one or more of the autonomous vehicles of the fleet in order to implement the operating policy.

公开(公告)号：US11814078B2

公开(公告)日：2023-11-14

申请号：US18060340

申请日：2022-11-30

Applicant: Waymo LLC

Inventor： Ioan-Alexandru Sucan ,  Joshua Herbach ,  Collin Winter

IPC: B60W60/00 ,  G05D1/00

CPC classification number: B60W60/0011 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0044 ,  G05D2201/0213

Abstract: Example embodiments relate to using remote assistance to maneuver an autonomous vehicle to a location. A computing device used by a remote operator may receive a request for assistance from a vehicle that indicates the vehicle is stopped at a first location with one or more navigation options for enabling the vehicle to navigate from the first location to a second location. At least one navigation option includes a maneuver technique that requires operator approval prior to execution. The computing device may then display a graphical user interface (GUI) that conveys the one or more navigation options. Based on detecting a selection of a particular navigation option, the computing device may transmit instructions to the vehicle to perform the particular navigation option. The vehicle may configured to navigate from the first location to the second location by performing the particular navigation option while monitoring for changes in the environment.

公开(公告)号：US20230356733A1

公开(公告)日：2023-11-09

申请号：US17738660

申请日：2022-05-06

Applicant: Waymo LLC

Inventor： Matthew Lau ,  Jiabin Liu ,  Xiaoyi Liu

IPC: B60W50/06 ,  G06F8/65 ,  G06F30/20 ,  G07C5/04 ,  B60W60/00

CPC classification number: B60W50/06 ,  G06F8/65 ,  G06F30/20 ,  G07C5/04 ,  B60W60/001 ,  B60W2520/10 ,  B60W2554/4044 ,  B60W2554/4042 ,  B60W2554/402 ,  B60W2520/06

Abstract: A method includes receiving a set of real-world log data defining a real-world driving environment and generated by an autonomous vehicle (AV). The set of real-world log data includes at least one set of real-world parameters defining at least one real-world object observed by the AV operating within the real-world driving environment. The method further includes generating, based on the set of real-world log data, a set of simulated log data defining a simulated driving environment and causing a simulation to be performed using the set of simulated log data. The set of simulated log data comprises at least one set of simulated parameters defining at least one simulated object within the simulated driving environment, and generating the set of simulated log data includes perturbing at least one real-world parameter of the at least one set of real-world parameters to obtain the at least one set of simulated parameters.

公开(公告)号：US20230347938A1

公开(公告)日：2023-11-02

申请号：US18140267

申请日：2023-04-27

Applicant: WAYMO LLC

Inventor： Kevin Malta ,  Craig Lewin Robinson ,  Julien Charles Mercay

IPC: B60W60/00 ,  G01S19/40 ,  G01C21/30

CPC classification number: B60W60/00253 ,  G01S19/40 ,  G01C21/30 ,  B60W2420/52 ,  B60W2556/40 ,  B60W2556/45 ,  B60W2556/60 ,  B60W60/00256

Abstract: The technology provides enhanced localization approaches using vehicle-obtained information in place of or to enhance global positioning information to localize a user's position. Such information can be shared with the user's client device in real-time prior to pickup or meeting at a selected location. This can supplement or replace inaccurate localization information available at the client device, and can be done as needed when the user is within a threshold range of one or more autonomous vehicles. A client device of a user can compute its position using the vehicle positioning information. The vehicle positioning approach may be performed when the user is within a certain range of one or more vehicles. Vehicle localization information may also be used to correct the client device's localization information. Here, using hyper-accurate vehicle positioning, one or more vehicles can compute pseudorange errors for each “visible” satellite in a global positioning service.

公开(公告)号：US11797836B1

公开(公告)日：2023-10-24

申请号：US16725305

申请日：2019-12-23

Applicant: Waymo LLC

Inventor： Ruffin Evans

IPC: G06N3/067 ,  G01S7/02 ,  G01S13/86 ,  G06N3/082

CPC classification number: G06N3/067 ,  G01S7/022 ,  G01S13/865 ,  G06N3/082

Abstract: A sensor system includes a transmitter configured to emit electromagnetic radiation towards a portion of an environment and an optical neural network configured to receive a reflection of the electromagnetic radiation from the portion of the environment and generate an array of electromagnetic signals. A property of each respective electromagnetic signal of the array of electromagnetic signals represents a corresponding physical characteristic of the portion of the environment. The sensor system also includes a detector array configured to receive the array of electromagnetic signals and including a plurality of electromagnetic signal detectors. Each respective electromagnetic signal detector is configured to measure the property of a corresponding electromagnetic signal of the array of electromagnetic signals and generate, based on the measured at least one property of the corresponding electromagnetic signal, a value representing the corresponding physical characteristic.