公开(公告)号：US20210341934A1

公开(公告)日：2021-11-04

申请号：US17336938

申请日：2021-06-02

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Jens-Steffen Ralf Gutmann ,  Pei Sun

IPC: G05D1/02 ,  G05D1/00

Abstract: The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.

公开(公告)号：US20210150799A1

公开(公告)日：2021-05-20

申请号：US17098943

申请日：2020-11-16

Applicant: Waymo LLC

Inventor： Zhenpei Yang ,  Yuning Chai ,  Yin Zhou ,  Pei Sun ,  Henrik Kretzschmar ,  Sean Rafferty ,  Dumitru Erhan ,  Dragomir Anguelov

IPC: G06T15/04 ,  G06T9/00 ,  G06T7/70 ,  G06N3/04 ,  G06N3/08 ,  B60W60/00 ,  B60W30/095 ,  B60W50/06

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generated simulated sensor data. One of the methods includes obtaining a surfel map generated from sensor observations of a real-world environment and generating, for each surfel in the surfel map, a respective grid having a plurality of grid cells, wherein each grid has an orientation matching an orientation of a corresponding surfel, and wherein each grid cell within each grid is assigned a respective color value. For a simulated location within a simulated representation of the real-world environment, a textured surfel rendering is generated, including combining color information from grid cells visible from the simulated location within the simulated representation of the real-world environment.

公开(公告)号：US20210012555A1

公开(公告)日：2021-01-14

申请号：US16924080

申请日：2020-07-08

Applicant: Waymo LLC

Inventor： Yin Zhou ,  Pei Sun ,  Yu Zhang ,  Dragomir Anguelov ,  Jiyang Gao ,  Yu Ouyang ,  Zijian Guo ,  Jiquan Ngiam ,  Vijay Vasudevan

IPC: G06T15/20 ,  G06K9/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.