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公开(公告)号：US11494533B2
公开(公告)日：2022-11-08
申请号：US16697428
申请日：2019-11-27
Applicant: Waymo LLC
Inventor： Xiaoyi Liu , Menghui Wang , Yang-hua Chu , Aleksandar Gabrovski
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. In one instance, a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The simulation may be run using the software to control a simulated vehicle and by modifying a characteristic of an agent identified in the log data. During the running of the simulation, that a first type of interaction between the first simulated vehicle and the modified agent will occur may be determined. In response to determining that the particular type of interaction will occur, the modified agent may be replaced by a interactive agent that simulates a road user corresponding to the modified agent that is capable of responding to actions performed by simulated vehicles. That the particular type of interaction between the simulated vehicle and the interactive agent has occurred in the simulation may be determined.
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公开(公告)号：US11491994B2
公开(公告)日：2022-11-08
申请号：US17024998
申请日：2020-09-18
Applicant: Waymo LLC
Inventor： Keith Hutchings , Julien Mercay , Philip Nemec , Hans-olav CaveLie , Saswat Panigrahi , Renaud-Roland Hubert , Johan Engstrom
Abstract: This technology relates to dynamically detecting, managing and mitigating driver fatigue in autonomous systems. For instance, interactions of a driver in a vehicle may be monitored to determine a distance or time when primary tasks associated with operation of the vehicle or secondary tasks issued by the vehicle computing were last performed. If primary tasks or secondary tasks are not performed within given distance thresholds or time limits, then one or more secondary tasks are initiated by the computing device of the vehicle. In another instance, potential driver fatigue, driver distraction or overreliance on an automated driving system is detected based on gaze direction or pattern of a driver. For example, a detected gaze direction or pattern may be compared to an expected gaze direction or pattern given the surrounding environment in a vicinity of the vehicle.
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公开(公告)号：US20220350006A1
公开(公告)日：2022-11-03
申请号：US17306327
申请日：2021-05-03
Applicant: Waymo LLC
Inventor： Michael Sleator
Abstract: A method of determining a distance between a vehicle and a sound source includes detecting, at a microphone of the vehicle, sounds from a sound source external to the vehicle. The sounds have a first frequency component at a first frequency and a second frequency component at a second frequency. The method also includes determining, at a processor of the vehicle, a classification of the sound source based on audio properties of the sounds. The method further includes determining a first energy level associated with the first frequency component and a second energy level associated with the second frequency component. The method also includes determining a ratio between the first energy level and the second energy level. The method further includes determining the distance between the vehicle and the sound source based on the ratio and the classification of the sound source.
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公开(公告)号：US20220349996A1
公开(公告)日：2022-11-03
申请号：US17246831
申请日：2021-05-03
Applicant: Waymo LLC
Inventor： Michael Fina
Abstract: Example embodiments relate to techniques for detecting adverse road conditions using radar. A computing device may generate a first radar representation that represents a field of view for a radar unit coupled to a vehicle and during clear weather conditions and store the first radar representation in memory. The computing device may receive radar data from the radar unit during navigation of the vehicle on a road and determine a second radar representation based on the radar data. The computing device may also perform a comparison between the first radar representation and the second radar representation and determine a road condition for the road based on the comparison. The road condition may represent a quantity of precipitation located on the road and provide control instructions to the vehicle based on the road condition for the road.
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公开(公告)号：US11485328B1
公开(公告)日：2022-11-01
申请号：US16781126
申请日：2020-02-04
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Eric Schmidt , Seth Gilbertson , Nicholas Wiles
Abstract: This technology relates to a system for clearing a sensor cover. The system may be comprised of a first sensor that rotates within a sensor cover, a plurality of second sensors that are fixed relative to the sensor cover, a first wiper that is configured to clear the sensor cover of debris, and a motor. The motor may rotate the first wiper in a first direction at a first predetermined rotation rate defined at least in part by a second predetermined rotation rate of the first sensor.
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Patent Agency Ranking
公开(公告)号：USD967185S1
公开(公告)日：2022-10-18
申请号：US29796852
申请日：2021-06-28
Applicant: Waymo LLC
Designer： Peter Crandall , Nirmal Patel
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公开(公告)号：US11475119B2
公开(公告)日：2022-10-18
申请号：US17100029
申请日：2020-11-20
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Luis Torres , Michael Epstein , Yu-Hsin Chen
IPC: G06F21/44 , G06F21/35 , H04L9/32 , H04L67/12 , B60R21/015 , G08B13/196 , G06Q10/04 , G06V20/56 , G06V40/10 , G06V40/18 , G06V40/16
Abstract: Aspects of the disclosure provide systems and methods for recognizing an assigned passenger. For instance, dispatching instructions to pick up a passenger at a pickup location are received. The instructions include authentication information for authenticating a client computing device associated with the passenger. A vehicle is maneuvered in an autonomous driving mode towards the pickup location. The client device is then authenticated. After authentication, a set of pedestrians within a predetermined distance of the vehicle are identified from sensor information generated by a sensor of the vehicle and location information is received over a period of time from the client device. The received location information is used to estimate a velocity of the passenger. This estimated velocity is used to identify a subset of set of pedestrians that is likely to be the passenger. The vehicle is stopped to allow the passenger to enter the vehicle based on the subset.
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278.发明授权公开(公告)号：US11474520B2
公开(公告)日：2022-10-18
申请号：US17063331
申请日：2020-10-05
Applicant: Waymo LLC
Inventor： Peter Lombrozo , Eric Teller , Bradley Templeton
IPC: G05D1/00 , B60W30/12 , B60W30/16 , G01C21/26 , G01C21/30 , G06V20/58 , B60W40/00 , B60W30/09 , G01S13/88 , G01S15/88 , G01S17/88 , B60W50/00
Abstract: A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.
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公开(公告)号：US20220326714A1
公开(公告)日：2022-10-13
申请号：US17227177
申请日：2021-04-09
Applicant: Waymo LLC
Inventor： Vishu Goyal , Shen Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating unmapped U-turn predictions using a machine learning model. One of the methods includes obtaining features of an agent travelling on a roadway. One or more unmapped U-turn regions in a vicinity of the agent on the roadway are identified. For each of the unmapped U-turn regions and from at least the features of the agent, a respective likelihood score that represents a likelihood that the agent intends to make an unmapped U-turn at the unmapped U-turn region is generated. Based on the respective likelihood scores, one or more of the unmapped U-turn regions are selected. For each selected unmapped U-turn region, data specifying a candidate future trajectory in which the agent makes the unmapped U-turn at the selected unmapped U-turn region is provided as a possible future trajectory for the agent.
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公开(公告)号：US11470282B2
公开(公告)日：2022-10-11
申请号：US17116448
申请日：2020-12-09
Applicant: Waymo LLC
Inventor： Pieter Kapsenberg
Abstract: Examples described relate to systems, methods, and apparatus for transmitting image data. The apparatus may comprise a memory buffer configured to store data elements of an image frame and generate a signal indicating that each of the data elements of the image frame have been written to the memory buffer, a processor configured to initiate a flush operation for reading out at least one data element of the image frame from the memory buffer and to output the at least one data element at a first rate, a rate adjustment unit configured to receive the at least one data element from the processor at the first rate and to output the at least one data element at a second rate, and a multiplexer configured to receive the at least one data element from the processor at the first rate and configured to receive the at least one data element from the rate adjustment unit at the second rate. The multiplexer may select the at least one data element at the second rate for transmitting on a bus in response to receiving the signal from the memory buffer.
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