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公开(公告)号：US20220179056A1
公开(公告)日：2022-06-09
申请号：US17115705
申请日：2020-12-08
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Antonio Teran Espinoza
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using naturally collected data in sensor calibration. One of the methods includes obtaining, using a first, calibrated sensor, a first plurality of raw sensor measurements of an environment; determining, from the first plurality of raw sensor measurements, a Truncated Signed Distance Field (TSDF)-based model of surfaces in the environment; obtaining, using a second sensor, a second plurality of raw sensor measurements of the environment; determining a multi-dimensional point cloud representation of the environment; and determining refined values of the set of calibration parameters of the second sensor based on a difference between, for each data point, (i) the multiple values that define the data point and (ii) multiple values that define a target data point derived from the TSDF-based model of surfaces in the environment.
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公开(公告)号：US20220176962A1
公开(公告)日：2022-06-09
申请号：US17116314
申请日：2020-12-09
Applicant: Waymo LLC
Inventor： David Smith , Kevin Yoon
Abstract: A method includes identifying, based on grade data of a route of an autonomous vehicle (AV), a segment of the route that has a grade value that meets a threshold grade value. Responsive to identifying the segment, the method further includes generating, based on the grade data and physical vehicle data of the AV, driving constraint data for the segment of the route. The method further includes causing a routing module of the AV to generate, based on the driving constraint data for the segment of the route, short time horizon routing data corresponding to a portion of the segment. The AV is to travel the portion of the segment of the route based on the short time horizon routing data.
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公开(公告)号：US20220176892A1
公开(公告)日：2022-06-09
申请号：US17114808
申请日：2020-12-08
Applicant: Waymo LLC
Inventor： Shashank Sharma , Matthew Last
Abstract: The present disclosure relates to optical systems, vehicles, and methods for providing improved mechanical performance of a camera and corresponding optical elements. An example optical system includes an outer housing and an inner support member. The optical system also includes an optical window coupled to the outer housing and the inner support member. The optical window is configured to be temperature-controllable. The optical system also includes a camera coupled to the inner support member. The camera is optically coupled to the optical window. Additionally, the outer housing, the optical window, and the camera are configured to be impact resistant.
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公开(公告)号：US20220171398A1
公开(公告)日：2022-06-02
申请号：US17108891
申请日：2020-12-01
Applicant: Waymo LLC
Inventor： William Grossman , Peter Strohm
Abstract: A method includes identifying route data including a threshold arrival time for a route for an autonomous vehicle (AV) and calculating, based on the route data and a fuel-efficient speed value for each segment of the route, an estimated arrival time. Responsive to the estimated arrival time not meeting the threshold arrival time, the method includes identifying at least a subset of segments that each represent a candidate for speed increase, computing, for each segment in the subset and based on the fuel economy data, a correlation metric that indicates a correlation between a change in fuel economy and a change in speed for a corresponding segment in the subset, and increasing, for at least one segment from the subset and based on a respective correlation metric, a fuel-efficient speed value of the corresponding segment from the subset to provide a speed profile reflecting the increased fuel-efficient speed value.
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公开(公告)号：US20220169278A1
公开(公告)日：2022-06-02
申请号：US17108626
申请日：2020-12-01
Applicant: Waymo LLC
Inventor： Khaled Refaat , Haoyu Chen , Wei Chai , Alisha Saxena
Abstract: Data representing a set of predicted trajectories and a planned trajectory for an autonomous vehicle is obtained. A predictability score for the planned trajectory can be determined based on a comparison of the planned trajectory to the set of predicted trajectories for the autonomous vehicle. The predictability score indicates a level of predictability of the planned trajectory. A determination can be made, based at least on the predictability score, whether to initiate travel with the autonomous vehicle along the planned trajectory. In response to determining to initiate travel with the autonomous vehicle along the planned trajectory, a control system can be directed to maneuver the autonomous vehicle along the planned trajectory.
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Patent Agency Ranking
公开(公告)号：USD953176S1
公开(公告)日：2022-05-31
申请号：US29725212
申请日：2020-02-24
Applicant: Waymo LLC
Designer： Benjamin Chen , Thomas Southworth
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公开(公告)号：US11345335B1
公开(公告)日：2022-05-31
申请号：US16890274
申请日：2020-06-02
Applicant: Waymo LLC
Inventor： Brandon Douglas Luders , Vadim Furman , Nathaniel Fairfield
IPC: B60W30/00 , G08G1/16 , G01S17/00 , G01S13/931 , G05D1/00 , G05D1/02 , G01S17/931 , G06V20/56
Abstract: The technology relates to identifying sensor occlusions due to the limits of the ranges of a vehicle's sensors and using this information to maneuver the vehicle. As an example, the vehicle is maneuvered along a route that includes traveling on a first roadway and crossing over a lane of a second roadway. A trajectory is identified from the lane that will cross with the route during the crossing at a first point. A second point beyond a range of the vehicle's sensors is selected. The second point corresponds to a hypothetical vehicle moving towards the route along the lane. A distance between the first point and the second point is determined. An amount of time that it would take the hypothetical vehicle to travel the distance is determined and compared to a threshold amount of time. The vehicle is maneuvered based on the comparison to complete the crossing.
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公开(公告)号：US20220164720A1
公开(公告)日：2022-05-26
申请号：US16953862
申请日：2020-11-20
Applicant: Waymo LLC
Inventor： Ganesh Balachandran , Salil Pandit
Abstract: Aspects of the disclosure relate to generating a model to assess maximum numbers of concurrent trips for an autonomous vehicle transportation service. For instance, historical trip data, including when requests for assistance were made, response times for those requests for assistance, and a number of available resources when each of the requests for assistance were made may be received. In addition, a number of concurrent trips, or trips that overlap in time, occurring when each of the requests for assistance were made may be received. The model may be trained using the historical trip data and the numbers of concurrent trips. The model may be configured to provide a maximum number of concurrent trips given a period of time, a number of available resources, and a response time requirement.
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公开(公告)号：US20220161790A1
公开(公告)日：2022-05-26
申请号：US17670900
申请日：2022-02-14
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.
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公开(公告)号：US20220156965A1
公开(公告)日：2022-05-19
申请号：US17505900
申请日：2021-10-20
Applicant: Waymo LLC
Inventor： Jingxiao Zheng , Xinwei Shi , Alexander Gorban , Junhua Mao , Andre Liang Cornman , Yang Song , Ting Liu , Ruizhongtai Qi , Yin Zhou , Congcong Li , Dragomir Anguelov
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.
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