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公开(公告)号：US11821751B2
公开(公告)日：2023-11-21
申请号：US17509131
申请日：2021-10-25
Applicant: Waymo LLC
Inventor： Michael Steven Montemerlo , Ming Ji , Peter Pawlowski
CPC classification number: G01C21/3856 , G06F16/29 , G06F16/58 , G06V20/584
Abstract: Aspects of the disclosure relate to validating map data using challenge questions. For instance, an attributes to be validated may be identified from the map data. At least one challenge question may be selected from a plurality of predetermined challenge questions based on the attribute. An image may be retrieved based on image information associated with the at least one challenge question. The image and the at least one challenge question may be provided for display. In response to the providing, operator input identifying an answer to the at least one challenge question may be received. This answer may be then used to validate the attribute.
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公开(公告)号：US20230245563A1
公开(公告)日：2023-08-03
申请号：US18297124
申请日：2023-04-07
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
CPC classification number: G08G1/161 , G08G1/22 , G08G1/096741 , G08G1/096725 , G08G1/0112 , G08G1/096775 , B60W30/00 , G05D1/0088 , G05D1/0287 , B60W2050/0075
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
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公开(公告)号：US11181384B2
公开(公告)日：2021-11-23
申请号：US16042184
申请日：2018-07-23
Applicant: Waymo LLC
Inventor： Michael Steven Montemerlo , Ming Ji , Peter Pawlowski
Abstract: Aspects of the disclosure relate to validating map data using challenge questions. For instance, an attributes to be validated may be identified from the map data. At least one challenge question may be selected from a plurality of predetermined challenge questions based on the attribute. An image may be retrieved based on image information associated with the at least one challenge question. The image and the at least one challenge question may be provided for display. In response to the providing, operator input identifying an answer to the at least one challenge question may be received. This answer may be then used to validate the attribute.
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公开(公告)号：US20190186936A1
公开(公告)日：2019-06-20
申请号：US15843223
申请日：2017-12-15
Applicant: Waymo LLC
Inventor： Dietmar Ebner , Joshua Seth Herbach , Michael Steven Montemerlo
Abstract: A route is selected for travel by an autonomous vehicle based on at least a level of difficulty of traversing the driving environment along that route. Vehicle signals, provided by one or more autonomous vehicles, indicating a difficulty associated with traveling a portion of a route are collected and used to predict a most favorable driving route for a given time. The signals may indicate a probability of disengaging from autonomous driving mode, a probability of being stuck for an unduly long time, traffic density, etc. A difficulty score may be computed for each road segment of a route, and then the scores of all of the road segments of the route are added together. The scores are based on number of previous disengagements, previous requests for remote assistance, unprotected left or right turns, whether parts of the driving area are occluded, etc. The difficulty score is used to compute a cost for a particular route, which may be compared to costs computed for other possible routes. Based on such information, a route may be selected.
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公开(公告)号：US09709679B1
公开(公告)日：2017-07-18
申请号：US14452894
申请日：2014-08-06
Applicant: Waymo LLC
Inventor： Christopher Paul Urmson , Andrew Hughes Chatham , Hendrik Dahlkamp , Michael Steven Montemerlo , Jiajun Zhu
CPC classification number: G01S17/89 , G01C21/32 , G05D1/024 , G05D1/0274 , G05D2201/0213 , G09B29/12
Abstract: Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.
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Patent Agency Ranking
公开(公告)号：US20250054394A1
公开(公告)日：2025-02-13
申请号：US18924713
申请日：2024-10-23
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
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公开(公告)号：US10684134B2
公开(公告)日：2020-06-16
申请号：US15843223
申请日：2017-12-15
Applicant: Waymo LLC
Inventor： Dietmar Ebner , Joshua Seth Herbach , Michael Steven Montemerlo
Abstract: A route is selected for travel by an autonomous vehicle based on at least a level of difficulty of traversing the driving environment along that route. Vehicle signals, provided by one or more autonomous vehicles, indicating a difficulty associated with traveling a portion of a route are collected and used to predict a most favorable driving route for a given time. The signals may indicate a probability of disengaging from autonomous driving mode, a probability of being stuck for an unduly long time, traffic density, etc. A difficulty score may be computed for each road segment of a route, and then the scores of all of the road segments of the route are added together. The scores are based on number of previous disengagements, previous requests for remote assistance, unprotected left or right turns, whether parts of the driving area are occluded, etc. The difficulty score is used to compute a cost for a particular route, which may be compared to costs computed for other possible routes. Based on such information, a route may be selected.
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公开(公告)号：US20200025577A1
公开(公告)日：2020-01-23
申请号：US16042184
申请日：2018-07-23
Applicant: Waymo LLC
Inventor： Michael Steven Montemerlo , Ming Ji , Peter Pawlowski
Abstract: Aspects of the disclosure relate to validating map data using challenge questions. For instance, an attributes to be validated may be identified from the map data. At least one challenge question may be selected from a plurality of predetermined challenge questions based on the attribute. An image may be retrieved based on image information associated with the at least one challenge question. The image and the at least one challenge question may be provided for display. In response to the providing, operator input identifying an answer to the at least one challenge question may be received. This answer may be then used to validate the attribute.
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公开(公告)号：US10094670B1
公开(公告)日：2018-10-09
申请号：US14519358
申请日：2014-10-21
Applicant: Waymo LLC
Abstract: Aspects of the disclosure relate generally to condensing sensor data for transmission and processing. For example, laser scan data including location, elevation, and intensity information may be collected along a roadway. This data may be sectioned into quanta representing some period of time during which the laser sweeps through a portion of its field of view. The data may also be filtered spatially to remove data outside of a threshold quality area. The data within the threshold quality area for a particular quantum may be projected onto a two-dimensional grid of cells. For each cell of the two-dimensional grid, a computer evaluates the cells to determine a set of characteristics for the cell. The sets of characteristics for all of the cells of the two-dimensional grid for the particular quantum are then sent to a central computing system for further processing.
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公开(公告)号：US09947224B2
公开(公告)日：2018-04-17
申请号：US15377139
申请日：2016-12-13
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
CPC classification number: G08G1/161 , B60W30/00 , B60W2050/008 , G05D1/0088 , G05D1/0287 , G08G1/0112 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/22
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
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