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公开(公告)号：US11126868B1
公开(公告)日：2021-09-21
申请号：US16373214
申请日：2019-04-02
Applicant: Waymo LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson
Abstract: Aspects of the disclosure relate controlling autonomous vehicles or vehicles having an autonomous driving mode. More particularly, these vehicles may identify and respond to other vehicles engaged in a parallel parking maneuver by receiving sensor data corresponding to objects in an autonomous vehicle's environment and including location information for the objects over time. An object corresponding to another vehicle in a lane in front of the first vehicle may be identified from the sensor data. A pattern of actions of the other vehicle identified form the sensor data is used to determine that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the other vehicle identified from the sensor data. The determination is then used to control the autonomous vehicle.
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公开(公告)号：US10955846B1
公开(公告)日：2021-03-23
申请号：US16522921
申请日：2019-07-26
Applicant: WAYMO LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.
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公开(公告)号：US10899345B1
公开(公告)日：2021-01-26
申请号：US16538063
申请日：2019-08-12
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC: B60W30/09 , B60W30/095 , G05D1/00 , B60W30/18 , G05D1/02
Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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公开(公告)号：US10699141B2
公开(公告)日：2020-06-30
申请号：US16018490
申请日：2018-06-26
Applicant: Waymo LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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公开(公告)号：US20200064856A1
公开(公告)日：2020-02-27
申请号：US16108411
申请日：2018-08-22
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jennifer Taylor
Abstract: The technology relates to detecting and responding to sounds for a vehicle having an autonomous driving mode. In one example, an audible signal corresponding to a sound received at one or more microphones of the vehicle may be received. Sensor data generated by a perception system of the vehicle identifying objects in an environment of the vehicle may be received. A type of sound may be determined by inputting the audible signal into a classifier. A set of additional signals may be determined based on the determined type of sound. The sensor data may be processed in order to identify one or more additional signals of the identified set of additional signals. The vehicle may be controlled in the autonomous driving mode in order to respond to the sound based on the one or more additional signals and the type of sound.
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Patent Agency Ranking
公开(公告)号：US10293822B1
公开(公告)日：2019-05-21
申请号：US15597379
申请日：2017-05-17
Applicant: Waymo LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson
Abstract: Aspects of the disclosure relate controlling autonomous vehicles or vehicles having an autonomous driving mode. More particularly, these vehicles may identify and respond to other vehicles engaged in a parallel parking maneuver by receiving sensor data corresponding to objects in an autonomous vehicle's environment and including location information for the objects over time. An object corresponding to another vehicle in a lane in front of the first vehicle may be identified from the sensor data. A pattern of actions of the other vehicle identified form the sensor data is used to determine that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the other vehicle identified from the sensor data. The determination is then used to control the autonomous vehicle.
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公开(公告)号：US10156851B1
公开(公告)日：2018-12-18
申请号：US15384782
申请日：2016-12-20
Applicant: Waymo LLC
Inventor： David Harrison Silver , David I. Ferguson
Abstract: Aspects of the disclosure relate to an autonomous vehicle that may detect other nearby vehicles and designate stationary vehicles as being in one of a short-term stationary state or a long-term stationary state. This determination may be made based on various indicia, including visible indicia displayed by the detected vehicle and traffic control factors relating to the detected vehicle. For example, the autonomous vehicle may identify a detected vehicle as being in a long-term stationary state based on detection of hazard lights being displayed by the detected vehicle, as well as the absence of brake lights being displayed by the detected vehicle. The autonomous vehicle may then base its control strategy on the stationary state of the detected vehicle.
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公开(公告)号：US09964954B1
公开(公告)日：2018-05-08
申请号：US15384841
申请日：2016-12-20
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jur Pieter Van Den Berg , Nathaniel Fairfield
CPC classification number: G05D1/0231 , G05D1/0088 , G05D1/0234 , G06K9/00812 , G08G1/015 , G08G1/052 , G08G1/09626 , G08G1/096725 , G08G1/096758 , G08G1/096783 , G08G1/165
Abstract: Aspects of the disclosure relate to an autonomous vehicle that may detected other nearby vehicles and identify them as parked or unparked. This identification may be based on visual indicia displayed by the detected vehicles as well as traffic control factors relating to the detected vehicles. Detected vehicles that are in a known parking spot may automatically be identified as parked. In addition, detected vehicles that satisfy conditions that are indications of being parked may also be identified as parked. The autonomous vehicle may then base its control strategy on whether or not a vehicle has been identified as parked or not.
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公开(公告)号：US20180032078A1
公开(公告)日：2018-02-01
申请号：US15292818
申请日：2016-10-13
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , Andreas Wendel , Zhinan Xu , David Harrison Silver , Brandon Douglas Luders
CPC classification number: G05D1/0214 , G05D1/0246 , G05D2201/0213 , G06K9/00805
Abstract: Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle. The set of objects is filtered to remove objects corresponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The object is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle.
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公开(公告)号：US12228929B2
公开(公告)日：2025-02-18
申请号：US18510722
申请日：2023-11-16
Applicant: Waymo LLC
Inventor： David Harrison Silver , Qichi Yang
Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.
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