公开(公告)号：US10713510B2

公开(公告)日：2020-07-14

申请号：US15857952

申请日：2017-12-29

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Pankaj Chaudhari ,  Carl Kershaw

IPC: G06F19/00 ,  G06K9/00 ,  G05D1/02 ,  B60W40/105 ,  G05D1/00

Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.

公开(公告)号：US10539959B1

公开(公告)日：2020-01-21

申请号：US15798955

申请日：2017-10-31

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Carl Kershaw ,  Pankaj Chaudhari

IPC: G05D1/00 ,  G05D1/02

Abstract: The technology relates to detecting a person directing traffic. For instance, a first vehicle may be controlled in an autonomous driving mode. Sensor data is received from a perception system of the first vehicle, the sensor data identifying a person. Behavior of the person is observed using the sensor data. The observed behavior of the person and the observed behavior of a second vehicle are used to determine a likelihood value indicative of whether the person is directing traffic. The first vehicle is maneuvered in the autonomous driving mode based on the determined likelihood value.

公开(公告)号：US20190130736A1

公开(公告)日：2019-05-02

申请号：US15798881

申请日：2017-10-31

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Pankaj Chaudhari

IPC: G08G1/01 ,  G05D1/02 ,  G05D1/00 ,  G06K9/00

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode, the method. For instance, a vehicle may be maneuvered in the autonomous driving mode using pre-stored map information identifying traffic flow directions. Data may be received from a perception system of the vehicle identifying objects in an external environment of the vehicle related to a traffic redirection not identified the map information. The received data may be used to identify one or more corridors of a traffic redirection. One of the one or more corridors may be selected based on a direction of traffic flow through the selected corridor. The vehicle may then be controlled in the autonomous driving mode to enter and follow the selected one of the one or more corridors based on the determined direction of flow of traffic through each of the one or more corridors.