公开(公告)号：US12298400B2

公开(公告)日：2025-05-13

申请号：US17731131

申请日：2022-04-27

Applicant: Waymo LLC

Inventor： Xiaoxiang Hu ,  Clayton Kunz ,  David Gallup ,  Grigory Dzhavadyan

IPC: G01S17/89 ,  G01S7/48 ,  G01S17/18 ,  G06T7/521

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to predict reflections in an environment. One of the methods includes receiving a surfel map comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment. Sensor data for one or more locations in the environment is obtained. The sensor data has been captured by one or more sensors of a vehicle. A range map that represents a projection of the surfel map is generated. Range data in the sensor data is compared to the range map to identify one or more locations in the range map that do not match the range data in the sensor data. The one or more locations in the range map that do not match the range data in the sensor data is classified as reflections.

公开(公告)号：US12270914B2

公开(公告)日：2025-04-08

申请号：US18535933

申请日：2023-12-11

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Mingcheng Chen ,  Xiaoxiang Hu

IPC: G01S17/931 ,  B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  G01S17/06 ,  G01S17/50 ,  G01S17/58 ,  G01S17/89 ,  G01S17/04

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling Doppler-assisted segmentation of points in a point cloud for efficient object identification and tracking in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, the one or more velocity values and the one or more coordinates obtained for the same instance of time, identifying that the set of the return points is associated with an object in an environment, and causing a driving path of the AV to be determined in view of the object.

公开(公告)号：US20250093873A1

公开(公告)日：2025-03-20

申请号：US18965990

申请日：2024-12-02

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Xiaoxiang Hu

IPC: G05D1/00 ,  G01S7/48 ,  G01S7/481 ,  G01S7/539 ,  G01S17/34 ,  G01S17/58

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling velocity estimation for efficient object identification and tracking in autonomous vehicle (AV) applications, including: obtaining, by a sensing system of the AV, a plurality of return points, each return point having a velocity value and coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying an association of the velocity values and the coordinates of return points with a motion of a physical object, the motion being a combination of a translational motion and a rotational motion of a rigid body, and causing a driving path of the AV to be determined in view of the motion of the physical object.

公开(公告)号：US12181878B2

公开(公告)日：2024-12-31

申请号：US16949275

申请日：2020-10-22

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Xiaoxiang Hu

IPC: G05D1/00 ,  G01S7/48 ,  G01S7/481 ,  G01S7/539 ,  G01S17/34 ,  G01S17/58 ,  G05D1/02

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling velocity estimation for efficient object identification and tracking in autonomous vehicle (AV) applications, including: obtaining, by a sensing system of the AV, a plurality of return points, each return point having a velocity value and coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying an association of the velocity values and the coordinates of return points with a motion of a physical object, the motion being a combination of a translational motion and a rotational motion of a rigid body, and causing a driving path of the AV to be determined in view of the motion of the physical object.

公开(公告)号：US20220128995A1

公开(公告)日：2022-04-28

申请号：US16949275

申请日：2020-10-22

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Xiaoxiang Hu

IPC: G05D1/00 ,  G05D1/02 ,  G01S17/34 ,  G01S17/58 ,  G01S7/48 ,  G01S7/481 ,  G01S7/539

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling velocity estimation for efficient object identification and tracking in autonomous vehicle (AV) applications, including: obtaining, by a sensing system of the AV, a plurality of return points, each return point having a velocity value and coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying an association of the velocity values and the coordinates of return points with a motion of a physical object, the motion being a combination of a translational motion and a rotational motion of a rigid body, and causing a driving path of the AV to be determined in view of the motion of the physical object.