公开(公告)号：US20210343150A1

公开(公告)日：2021-11-04

申请号：US17336856

申请日：2021-06-02

Applicant: Waymo LLC

Inventor： Maxim Krivokon ,  Abhijit S. Ogale ,  Edward Hsiao ,  Andreas Wendel

IPC: G08G1/16 ,  G05D1/00 ,  G06K9/00 ,  G06K9/66 ,  G08G1/01 ,  G08G1/04 ,  G08G1/095

Abstract: Methods and system are provided for training and using a model to determine states of lanes of interest. For instance, image data including an image and an associated label identifying at least one traffic light, a state of the at least one traffic light, and a lane controlled by the at least one traffic light are received and used to train the model such that the model is configured to, in response to receiving an image and a lane of interest included in the image, output a lane state for the lane of interest. This model is then used by a vehicle in order to determine a state of a lane of interest. This state is then used to control the vehicle in an autonomous driving mode based on the state of the lane of interest.

公开(公告)号：US11056005B2

公开(公告)日：2021-07-06

申请号：US16169080

申请日：2018-10-24

Applicant: Waymo LLC

Inventor： Maxim Krivokon ,  Abhijit S. Ogale ,  Edward Hsiao ,  Andreas Wendel

IPC: G06G1/16 ,  G05D1/00 ,  G06K9/00 ,  G06K9/66 ,  G08G1/01 ,  G08G1/04 ,  G08G1/095 ,  G08G1/16

Abstract: Methods and system are provided for training and using a model to determine states of lanes of interest. For instance, image data including an image and an associated label identifying at least one traffic light, a state of the at least one traffic light, and a lane controlled by the at least one traffic light are received and used to train the model such that the model is configured to, in response to receiving an image and a lane of interest included in the image, output a lane state for the lane of interest. This model is then used by a vehicle in order to determine a state of a lane of interest. This state is then used to control the vehicle in an autonomous driving mode based on the state of the lane of interest.

公开(公告)号：US20210134012A1

公开(公告)日：2021-05-06

申请号：US17149621

申请日：2021-01-14

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: G06T7/80 ,  H04N13/246 ,  H04N13/282 ,  G01B11/25 ,  G06T7/60

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US10930014B2

公开(公告)日：2021-02-23

申请号：US16547427

申请日：2019-08-21

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: G06T7/80 ,  H04N13/246 ,  H04N13/282 ,  G01B11/25 ,  G06T7/60 ,  G06K9/00

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US10432912B2

公开(公告)日：2019-10-01

申请号：US15720979

申请日：2017-09-29

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: H04N13/246 ,  G06T7/80 ,  G01B11/25 ,  G06T7/60 ,  H04N13/282

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US10377378B2

公开(公告)日：2019-08-13

申请号：US15958365

申请日：2018-04-20

Applicant: Waymo LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Andreas Wendel ,  Nathaniel Fairfield ,  Dmitri A. Dolgov ,  Donald Jason Burnette

IPC: B60W30/09 ,  G08G1/0962 ,  G08G1/0967 ,  B60W30/18

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

公开(公告)号：US20190208136A1

公开(公告)日：2019-07-04

申请号：US16214589

申请日：2018-12-10

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Jeremy Dittmer ,  Brendan Hermalyn

IPC: H04N5/247 ,  H04N5/232 ,  G06T7/20 ,  H04N5/917 ,  H04N7/12

CPC classification number: H04N5/247 ,  B60R11/04 ,  B60R2011/0026 ,  B60R2011/004 ,  G05D1/0246 ,  G05D2201/0213 ,  G06T7/20 ,  G06T2207/30252 ,  H04N5/23229 ,  H04N5/917 ,  H04N7/12

Abstract: An optical system for a vehicle may be configured with a plurality of camera sensors. Each camera sensor may be configured to create respective image data of a respective field of view. The optical system is further configured with a plurality of image processing units coupled to the plurality of camera sensors. The image processing units are configured to compress the image data captured by the camera sensors. A computing system is configured to store the compressed image data in a memory. The computing system is further configured with a vehicle-control processor configured to control the vehicle based on the compressed image data. The optical system and the computing system can be communicatively coupled by a data bus.

公开(公告)号：US20190186931A1

公开(公告)日：2019-06-20

申请号：US15842055

申请日：2017-12-14

Applicant: Waymo LLC

Inventor： Jeremy Dittmer ,  Andreas Wendel

IPC: G01C21/34 ,  G05D1/02 ,  G06K9/00 ,  G06T7/70

CPC classification number: G01C21/3461 ,  G05D1/0246 ,  G06K9/00791 ,  G06T7/70 ,  G06T2207/10004

Abstract: Example implementations may relate to sun-aware vehicle routing. In particular, a computing system of a vehicle may determine an expected position of the sun relative to a geographic area. Based on the expected position, the computing system may make a determination that travel of the vehicle through certain location(s) within the geographic area is expected to result in the sun being proximate to an object within a field of view of the vehicle's image capture device. Responsively, the computing system may generate a route for the vehicle in the geographic area based at least on the route avoiding travel of the vehicle through these certain location(s), and may then operate the vehicle to travel in accordance with the generated route. Ultimately, this may help reduce or prevent situations where quality of image(s) degrades due to sunlight, which may allow for use of these image(s) as basis for operating the vehicle.

公开(公告)号：US20190104295A1

公开(公告)日：2019-04-04

申请号：US15720979

申请日：2017-09-29

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: H04N13/02 ,  G06T7/80 ,  G06T7/60 ,  G01B11/25

CPC classification number: G06T7/80 ,  G06K9/46 ,  G06T2207/30204

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US10108868B1

公开(公告)日：2018-10-23

申请号：US15861840

申请日：2018-01-04

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  David Ian Franklin Ferguson

IPC: G06K9/00 ,  G06K9/66 ,  B60W30/00

Abstract: The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes an image processing system. The image processing system receives an image that includes a plurality of image portions. The image processing system also calculates a score for each image portion. The score indicates a level of confidence that a given image portion represents an illuminated component of a traffic light. The image processing system further identifies one or more candidate portions from among the plurality of image portions. Additionally, the image processing system determines that a particular candidate portion represents an illuminated component of a traffic light using a classifier. Further, the image processing system provides instructions to control the autonomous vehicle based on the particular candidate portion representing an illuminated component of a traffic light.