公开(公告)号：US12165400B2

公开(公告)日：2024-12-10

申请号：US17567563

申请日：2022-01-03

Applicant: Waymo LLC

Inventor： Edward Hsiao

IPC: G06V10/82 ,  G05D1/00 ,  G06N3/08 ,  G06N5/046 ,  G06N20/00 ,  G06V10/764 ,  G06V20/58

Abstract: The technology relates to controlling a vehicle based on a railroad light's activation status. In one example, one or more processors receive images of a railroad light. The one or more processors determine, based on the images of the railroad light, the illumination status of a pair of lights of the railroad light over a period of time as the vehicle approaches the railroad light. The one or more processors determine based on the illumination status of the pair of lights, a confidence level, wherein the confidence level indicates the likelihood the railroad light is active. The vehicle is controlled as it approaches the railroad light based on the confidence level.

公开(公告)号：US11866068B2

公开(公告)日：2024-01-09

申请号：US16906594

申请日：2020-06-19

Applicant: Waymo LLC

Inventor： David Silver ,  Carl Kershaw ,  Jonathan Hsiao ,  Edward Hsiao

IPC: B60W60/00 ,  G08G1/095 ,  G06V40/10 ,  G06V20/58 ,  G06F18/24

CPC classification number: B60W60/0015 ,  B60W60/0025 ,  G06F18/24 ,  G06V20/584 ,  G06V40/10 ,  G08G1/095 ,  B60W2554/408 ,  B60W2554/4029

Abstract: Aspects of the disclosure relate to detecting and responding to malfunctioning traffic signals for a vehicle having an autonomous driving mode. For instance, information identifying a detected state of a traffic signal for an intersection. An anomaly for the traffic signal may be detected based on the detected state and prestored information about expected states of the traffic signal. The vehicle may be controlled in the autonomous driving mode based on the detected anomaly.

公开(公告)号：US11249487B2

公开(公告)日：2022-02-15

申请号：US16171730

申请日：2018-10-26

Applicant: Waymo LLC

Inventor： Edward Hsiao

IPC: G05D1/02 ,  G06K9/00 ,  G05D1/00 ,  G06N3/08 ,  G06N5/04 ,  G06N20/00

Abstract: The technology relates to controlling a vehicle based on a railroad light's activation status. In one example, one or more processors receive images of a railroad light. The one or more processors determine, based on the images of the railroad light, the illumination status of a pair of lights of the railroad light over a period of time as the vehicle approaches the railroad light. The one or more processors determine based on the illumination status of the pair of lights, a confidence level, wherein the confidence level indicates the likelihood the railroad light is active. The vehicle is controlled as it approaches the railroad light based on the confidence level.

公开(公告)号：US20250061702A1

公开(公告)日：2025-02-20

申请号：US18936116

申请日：2024-11-04

Applicant: Waymo LLC

Inventor： Edward Hsiao

IPC: G06V10/82 ,  G06N3/08 ,  G06N5/046 ,  G06N20/00 ,  G06V10/764 ,  G06V20/58

Abstract: The technology relates to controlling a vehicle based on a railroad light's activation status. In one example, one or more processors receive images of a railroad light. The one or more processors determine, based on the images of the railroad light, the illumination status of a pair of lights of the railroad light over a period of time as the vehicle approaches the railroad light. The one or more processors determine based on the illumination status of the pair of lights, a confidence level, wherein the confidence level indicates the likelihood the railroad light is active. The vehicle is controlled as it approaches the railroad light based on the confidence level.

公开(公告)号：US11845469B2

公开(公告)日：2023-12-19

申请号：US16915253

申请日：2020-06-29

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Maoqing Yao ,  David Margines ,  Yosuke Higashi

IPC: B60W60/00 ,  G05D1/00 ,  G08G1/095

CPC classification number: B60W60/0025 ,  G05D1/0088 ,  G08G1/095 ,  B60W2552/00

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, a current state of a traffic light may be determined. One of a plurality of yellow light durations may be selected based on the current state of the traffic light. When the traffic light will turn red may be predicted based on the selected one. The prediction may be used to control the vehicle in the autonomous driving mode.

公开(公告)号：US11645852B2

公开(公告)日：2023-05-09

申请号：US17336856

申请日：2021-06-02

Applicant: Waymo LLC

Inventor： Maxim Krivokon ,  Abhijit S. Ogale ,  Edward Hsiao ,  Andreas Wendel

IPC: G08G1/16 ,  G05D1/00 ,  G06V20/58 ,  G06V30/194 ,  G08G1/01 ,  G08G1/04 ,  G08G1/095 ,  G06V20/56

CPC classification number: G08G1/167 ,  G05D1/0088 ,  G06V20/584 ,  G06V20/588 ,  G06V30/194 ,  G08G1/0129 ,  G08G1/0145 ,  G08G1/04 ,  G08G1/095 ,  G08G1/166

Abstract: Methods and system are provided for training and using a model to determine states of lanes of interest. For instance, image data including an image and an associated label identifying at least one traffic light, a state of the at least one traffic light, and a lane controlled by the at least one traffic light are received and used to train the model such that the model is configured to, in response to receiving an image and a lane of interest included in the image, output a lane state for the lane of interest. This model is then used by a vehicle in order to determine a state of a lane of interest. This state is then used to control the vehicle in an autonomous driving mode based on the state of the lane of interest.

公开(公告)号：US11328519B2

公开(公告)日：2022-05-10

申请号：US16936739

申请日：2020-07-23

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Yu Ouyang ,  Maoqing Yao

IPC: G06K9/00 ,  G06V20/58 ,  G06N3/04 ,  G06T7/73 ,  G06V10/56 ,  G06V20/56

Abstract: Machine-learning models are described detecting the signaling state of a traffic signaling unit. A system can obtain an image of the traffic signaling unit, and select a model of the traffic signaling unit that identifies a position of each traffic lighting element on the unit. First and second neural network inputs are processed with a neural network to generate an estimated signaling state of the traffic signaling unit. The first neural network input can represent the image of the traffic signaling unit, and the second neural network input can represent the model of the traffic signaling unit. Using the estimated signaling state of the traffic signaling unit, the system can inform a driving decision of a vehicle.

公开(公告)号：US20220121216A1

公开(公告)日：2022-04-21

申请号：US17567563

申请日：2022-01-03

Applicant: Waymo LLC

Inventor： Edward Hsiao

IPC: G05D1/02 ,  G05D1/00 ,  G06N3/08 ,  G06N5/04 ,  G06N20/00 ,  G06V20/58

Abstract: The technology relates to controlling a vehicle based on a railroad light's activation status. In one example, one or more processors receive images of a railroad light. The one or more processors determine, based on the images of the railroad light, the illumination status of a pair of lights of the railroad light over a period of time as the vehicle approaches the railroad light. The one or more processors determine based on the illumination status of the pair of lights, a confidence level, wherein the confidence level indicates the likelihood the railroad light is active. The vehicle is controlled as it approaches the railroad light based on the confidence level.

公开(公告)号：US20210403047A1

公开(公告)日：2021-12-30

申请号：US16915253

申请日：2020-06-29

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Maoqing Yao ,  David Margines ,  Yosuke Higashi

IPC: B60W60/00 ,  G08G1/095 ,  G05D1/00

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, a current state of a traffic light may be determined. One of a plurality of yellow light durations may be selected based on the current state of the traffic light. When the traffic light will turn red may be predicted based on the selected one. The prediction may be used to control the vehicle in the autonomous driving mode.