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公开(公告)号：US11815903B2
公开(公告)日：2023-11-14
申请号：US17192089
申请日：2021-03-04
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
IPC: G01C22/00 , G05D1/00 , G05D1/02 , B60W40/04 , G06V20/56 , G06V20/58 , G07C5/00 , B60W50/02 , B60W50/00 , H04L67/125
CPC classification number: G05D1/0246 , B60W40/04 , G05D1/00 , G05D1/0022 , G05D1/0088 , G06V20/56 , G06V20/58 , G07C5/008 , B60W2050/0075 , B60W2050/0215 , B60W2556/45 , H04L67/125
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US20210191420A1
公开(公告)日：2021-06-24
申请号：US17192089
申请日：2021-03-04
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US20200301440A1
公开(公告)日：2020-09-24
申请号：US16896203
申请日：2020-06-08
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Jiajun Zhu
Abstract: Methods and systems for use of a reference image to detect a road obstacle are described. A computing device configured to control a vehicle, may be configured to receive, from an image-capture device, an image of a road on which the vehicle is travelling. The computing device may be configured to compare the image to a reference image; and identify a difference between the image and the reference image. Further, the computing device may be configured to determine a level of confidence for identification of the difference. Based on the difference and the level of confidence, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
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Patent Agency Ranking
公开(公告)号：US10204278B2
公开(公告)日：2019-02-12
申请号：US15094776
申请日：2016-04-08
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jonathan Baldwin Dowdall , David Ian Ferguson
IPC: G06K9/00 , G05D1/02 , G01V11/00 , G01S13/04 , G01S13/93 , G01S17/02 , G01S17/93 , G01S19/13 , G05D1/00 , G06K9/62
Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.
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公开(公告)号：US20240036583A1
公开(公告)日：2024-02-01
申请号：US18484090
申请日：2023-10-10
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
CPC classification number: G05D1/0246 , B60W40/04 , G06V20/56 , G06V20/58 , G05D1/00 , G05D1/0022 , G05D1/0088 , G07C5/008 , B60W2050/0215
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US20210356970A1
公开(公告)日：2021-11-18
申请号：US17391778
申请日：2021-08-02
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Jiajun Zhu
Abstract: Methods and systems for use of a reference image to detect a road obstacle are described. A computing device configured to control a vehicle, may be configured to receive, from an image-capture device, an image of a road on which the vehicle is travelling. The computing device may be configured to compare the image to a reference image; and identify a difference between the image and the reference image. Further, the computing device may be configured to determine a level of confidence for identification of the difference. Based on the difference and the level of confidence, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
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公开(公告)号：US11068726B1
公开(公告)日：2021-07-20
申请号：US16244554
申请日：2019-01-10
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jonathan Baldwin Dowdall , David Ian Ferguson
IPC: G06K9/48 , G06K9/00 , G01V11/00 , G01S13/04 , G05D1/02 , G01S13/931 , G06K9/62 , G05D1/00 , G01S19/13 , G01S17/04 , G01S17/931
Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.
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公开(公告)号：US20200033877A1
公开(公告)日：2020-01-30
申请号：US16594028
申请日：2019-10-06
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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