公开(公告)号：US11657318B2

公开(公告)日：2023-05-23

申请号：US16214991

申请日：2018-12-10

Applicant: Waymo LLC

Inventor： Ioan-Alexandru Sucan ,  Fang Da ,  Poonam Suryanarayan ,  Nathaniel Fairfield ,  Yutaka Leon Suematsu ,  Omer Baror ,  Jian Leong ,  Michael Epstein

IPC: G06N20/00 ,  B60W50/00 ,  G05D1/02

CPC classification number: G06N20/00 ,  B60W50/0098 ,  G05D1/0276 ,  G05D2201/0213

Abstract: The disclosure relates to training models for identification of events likely to cause discomfort to passengers of autonomous vehicles and for assessment of overall ride quality of autonomous vehicle rides. For instance, ride data may be associated with a ride quality value indicative of a level of discomfort and/or a first overall ride quality value indicating an overall ride quality provided by the passenger for the first ride. This ride data may be used to train a model such that the model is configured to, in response to receiving ride data for a second ride as input, output a list of events likely to cause discomfort to a passenger during the second ride and/or such that the model is configured to, in response to receiving second ride data for a second ride as input, output a second overall ride quality value for the second ride.

公开(公告)号：US11656327B2

公开(公告)日：2023-05-23

申请号：US16799151

申请日：2020-02-24

Applicant: WAYMO LLC

Inventor： Seth Gilbertson ,  Alexander Grinberg

IPC: G01S7/40 ,  G01S13/86 ,  B60S1/56 ,  G01S13/931 ,  G02B27/00 ,  H04N5/225

CPC classification number: G01S7/4004 ,  B60S1/566 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G02B27/0006 ,  H04N5/2252 ,  H04N5/22521 ,  G01S7/4043 ,  G01S2013/9327

Abstract: Aspects of the disclosure relate to systems for cleaning a sensor. For example, the sensor may include a housing as well as internal sensor components housed within the housing. The housing may include a sensor input surface through which signals may pass. The system may also include a motor configured to rotate the internal sensor components relative to a mount as well as the mount to which the motor is fixed. The system may also include a wiper including a wiper blade. The wiper may be attached to the mount such that rotating the housing causes the wiper to contact the sensor input surface in order to clean the sensor.

公开(公告)号：US20230154201A1

公开(公告)日：2023-05-18

申请号：US18150304

申请日：2023-01-05

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Bradley Templeton

IPC: G06V20/58 ,  G08G1/0967 ,  G08G1/0962 ,  G08G1/00 ,  B60W40/00

CPC classification number: G06V20/584 ,  B60W40/00 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096716 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096775 ,  G08G1/096791

Abstract: Methods and devices for using a relationship between activities of different traffic signals in a network to improve traffic signal state estimation are disclosed. An example method includes determining that a vehicle is approaching an upcoming traffic signal. The method may further include determining a state of one or more traffic signals other than the upcoming traffic signal. Additionally, the method may also include determining an estimate of a state of the upcoming traffic signal based on a relationship between the state of the one or more traffic signals other than the upcoming traffic signal and the state of the upcoming traffic signal.

公开(公告)号：US20230152812A1

公开(公告)日：2023-05-18

申请号：US18074737

申请日：2022-12-05

Applicant: Waymo LLC

Inventor： John Wesley Dyer ,  Michael Epstein

IPC: G05D1/02 ,  B60W60/00

CPC classification number: G05D1/0214 ,  B60W60/00253 ,  G05D2201/0212 ,  B60W2554/406

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle to respond to queuing behaviors at pickup or drop-off locations. As an example, a request to pick up or drop off a passenger at a location may be received. The location may be determined to likely have a queue for picking up and dropping off passengers. Based on sensor data received from a perception system, whether a queue exists at the location may be determined. Once it is determined that a queue exists, it may be determined whether to join the queue to avoid inconveniencing other road users. Based on the determination to join the queue, the vehicle may be controlled to join the queue.

公开(公告)号：US20230152431A1

公开(公告)日：2023-05-18

申请号：US17455239

申请日：2021-11-17

Applicant: Waymo LLC

Inventor： Jingyuan Linda Zhang ,  Caner Onal

IPC: G01S7/497 ,  G01S17/931 ,  B60S1/56

CPC classification number: G01S7/497 ,  B60S1/56 ,  G01S17/931 ,  G01S2007/4977

Abstract: An example method includes receiving point cloud information about a field of view of a lidar system. The point cloud information includes spatiotemporal and amplitude information about return light received. The method also includes determining, based on the point cloud information, a set of bright light returns from at least one highly reflective object. The bright light returns include return light having an amplitude above a photon threshold and a corresponding bright light return range. The method yet further includes determining, based on the point cloud information, a set of crosstalk returns. The crosstalk returns include return light having a corresponding crosstalk return range. The method includes adjusting, based on a normalized number of crosstalk returns, at least one of: a cleaning system, an operating mode of a lidar system, or an operating mode of a vehicle.

公开(公告)号：US20230150550A1

公开(公告)日：2023-05-18

申请号：US17988701

申请日：2022-11-16

Applicant: Waymo LLC

Inventor： Xinwei Shi ,  Tian Lan ,  Jonathan Chandler Stroud ,  Zhishuai Zhang ,  Junhua Mao ,  Jeonhyung Kang ,  Khaled Refaat ,  Jiachen Li

IPC: B60W60/00 ,  B60W50/00 ,  B60W40/04 ,  G06N3/04 ,  G06N3/08

CPC classification number: B60W60/00274 ,  B60W60/0015 ,  B60W50/0097 ,  B60W40/04 ,  G06N3/049 ,  G06N3/08 ,  B60W2554/4029 ,  B60W2554/4045 ,  B60W2554/4046 ,  B60W2554/408 ,  B60W2556/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent behavior prediction using keypoint data. One of the methods includes obtaining data characterizing a scene in an environment, the data comprising: (i) context data comprising data characterizing historical trajectories of a plurality of agents up to the current time point; and (ii) keypoint data for a target agent; processing the context data using a context data encoder neural network to generate a context embedding for the target agent; processing the keypoint data using a keypoint encoder neural network to generate a keypoint embedding for the target agent; generating a combined embedding for the target agent from the context embedding and the keypoint embedding; and processing the combined embedding using a decoder neural network to generate a behavior prediction output for the target agent that characterizes predicted behavior of the target agent after the current time point.

公开(公告)号：US20230143433A1

公开(公告)日：2023-05-11

申请号：US17173818

申请日：2021-02-11

Applicant: Waymo LLC

Inventor： Xu Chen ,  Hang Zhao ,  Ruichi Yu

IPC: G01S13/931 ,  G01S13/86 ,  G01S7/41 ,  B60W30/08 ,  G06T7/70

CPC classification number: G01S13/931 ,  G01S13/867 ,  G01S7/417 ,  B60W30/08 ,  G06T7/70 ,  B60W2420/52 ,  B60W2754/10 ,  B60W2554/00 ,  B60W2420/42 ,  G06T2207/10028 ,  G06T2207/30252 ,  G06T2207/10024 ,  G06T2207/20084

Abstract: Example embodiments relate to techniques for three dimensional (3D) object detection and localization. A computing system may cause a radar unit to transmit radar signals and receive radar reflections relative to an environment of a vehicle. Based on the radar reflections, the computing system may determine a heading and a range for a nearby object. The computing system may also receive an image depicting a portion of the environment that includes the object from a vehicle camera and remove peripheral areas of the image to generate an image patch that focuses upon the object based on the heading and the range for the object. The image patch and the heading and the range for the object can be provided as inputs into a neural network that provides output parameters corresponding to the object, which can be used to control the vehicle.

公开(公告)号：US20230141636A1

公开(公告)日：2023-05-11

申请号：US17991182

申请日：2022-11-21

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Qichi Yang

IPC: G05D1/00 ,  B60W30/18 ,  G06V20/58

CPC classification number: G05D1/0088 ,  B60W30/18009 ,  G06V20/584 ,  G05D2201/0213 ,  B60W2554/804 ,  B60W2555/60

Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.

公开(公告)号：USD985606S1

公开(公告)日：2023-05-09

申请号：US29804860

申请日：2021-08-23

Applicant: Waymo LLC

Designer： Maria Moon ,  Matthew Corey Hall ,  Peter Crandall

Abstract: FIG. 1 is a front view of the claimed design for a display screen or portion thereof with graphical user interface;
FIG. 2 is a front view of an alternative embodiment of the claimed design for a display screen or portion thereof with graphical user interface; and,
FIG. 3 is a front view of an alternative embodiment of the claimed design for a display screen or portion thereof with graphical user interface.
The outer rectangle in each drawing shows a display screen. the broken lines showing the display screen or portion thereof with graphical user interface depict environmental structure and form no part of the claimed design.

公开(公告)号：USD985605S1

公开(公告)日：2023-05-09

申请号：US29804858

申请日：2021-08-23

Applicant: Waymo LLC

Designer： Maria Moon ,  Matthew Corey Hall ,  Peter Crandall

Abstract: The patent file contains at least one drawing executed in color. Copies of this patent with color drawing(s) will be provided by the Office upon request and payment of the necessary fee.
The FIGURE is a front view of the claimed design for a display screen or portion thereof with graphical user interface.
The outer rectangle in the drawing shows a display screen. the broken lines showing the display screen or portion thereof with graphical user interface depict environmental structure and form no part of the claimed design.