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公开(公告)号：US11172192B2
公开(公告)日：2021-11-09
申请号：US16377527
申请日：2019-04-08
Applicant: Waymo LLC
Inventor： Chen David Lu , Matthew Rinehart , Volker Grabe
Abstract: Example embodiments relate to identifying defects in optical detector systems based on extent of stray light. An example embodiment includes a method. The method includes capturing, using an optical detector system, an image of a scene that includes a bright object. The method also includes determining a location of the bright object within the image. Further, the method includes determining, based on the location of the bright object within the image, an extent of stray light from the bright object that is represented in the image. In addition, the method includes determining, by comparing the extent of stray light from the bright object that is represented in the image to a predetermined threshold extent of stray light, whether one or more defects are present within the optical detector system. The predetermined threshold extent of stray light corresponds to an expected extent of stray light.
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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
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.
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公开(公告)号：US20210341927A1
公开(公告)日：2021-11-04
申请号：US17191491
申请日：2021-03-03
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding
Abstract: Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.
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公开(公告)号：US11163307B2
公开(公告)日：2021-11-02
申请号：US16534000
申请日：2019-08-07
Applicant: Waymo LLC
Inventor： Joshua Herbach
Abstract: Example implementations relate to vehicle occupancy confirmation. An example implementation involves receiving, at a computing system from a camera positioned inside a vehicle, an image representing an occupancy within the vehicle. The implementation further involves, responsive to receiving the image, displaying the image on a display interface, and receiving an operator input confirming the occupancy meets a desired occupancy. The implementation additionally includes transmitting an occupancy confirmation from the computing system to the vehicle. In some instances, in response to receiving the occupancy confirmation, the vehicle executes an autonomous driving operation.
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公开(公告)号：US20210331966A1
公开(公告)日：2021-10-28
申请号：US16855303
申请日：2020-04-22
Applicant: Waymo LLC
Inventor： John T. Simpson
IPC: C03C17/00 , C03C3/089 , C01B33/158 , C03C17/23
Abstract: An article including an optically transparent, superomniphobic coating that is durable and relatively easy to keep clean, is disclosed. In one aspect, the present disclosure provides an article comprising a substrate and a graded layer, the graded layer having a first side disposed adjacent the substrate, the first side comprising 45-85 wt. % silicon oxide in a first glass phase and 10-40 wt. % boron oxide in a second glass phase, and opposed the first side, a second side comprising at least 45 wt. % silicon oxide, no more than 5 wt. % boron oxide, and 10-50 wt. % aerogel, the aerogel present in the graded layer as a plurality of distinct domains.
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Patent Agency Ranking
公开(公告)号：US20210312177A1
公开(公告)日：2021-10-07
申请号：US16839693
申请日：2020-04-03
Applicant: Waymo LLC
Inventor： Mayank Bansal , Dragomir Anguelov
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting occupancies of agents. One of the methods includes obtaining scene data characterizing a current scene in an environment; and processing a neural network input comprising the scene data using a neural network to generate a neural network output, wherein: the neural network output comprises respective occupancy outputs corresponding to a plurality of agent types at one or more future time points; the occupancy output for each agent type at a first future time point comprises respective occupancy probabilities for a plurality of locations in the environment; and in the occupancy output for each agent type at the first future time point, the respective occupancy probability for each location characterizes a likelihood that an agent of the agent type will occupy the location at the first future time point.
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公开(公告)号：US20210295069A1
公开(公告)日：2021-09-23
申请号：US17239972
申请日：2021-04-26
Applicant: WAYMO LLC
Inventor： Kimberly Toth , Giulia Guidi , Choon Ping Chng
Abstract: The technology provides an interior camera sensing system for self-driving vehicles. The sensor system includes image sensors and infrared illuminators to see the vehicle's cabin and storage areas in all ambient lighting conditions. The system can monitor the vehicle for safety purposes, to detect the cleanliness of the cabin and storage areas, as well as to detect whether packages or other objects have been inadvertently left in the vehicle. The cameras are arranged to focus on selected regions in the vehicle cabin and the system carries out certain actions in response to information evaluated for those regions. The interior space is divided into multiple zones assigned different coverage priorities. Regardless of vehicle size or configuration, certain actions are performed according to various ride checklists and the imagery detected by the interior cameras. The checklists include pre-ride, mid-ride, and post-ride checklists.
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公开(公告)号：US20210294346A1
公开(公告)日：2021-09-23
申请号：US17343187
申请日：2021-06-09
Applicant: Waymo LLC
Inventor： Junhua Mao , Congcong Li , Alper Ayvaci , Chen Sun , Kevin Murphy , Ruichi Yu
IPC: G05D1/02 , G05D1/00 , G06K9/00 , G06K9/62 , B60W30/095 , G01S17/931
Abstract: Aspects of the disclosure relate to training and using a model for identifying actions of objects. For instance, LIDAR sensor data frames including an object bounding box corresponding to an object as well as an action label for the bounding box may be received. Each sensor frame is associated with a timestamp and is sequenced with respect to other sensor frames. Each given sensor data frame may be projected into a camera image of the object based on the timestamp associated with the given sensor data frame in order to provide fused data. The model may be trained using the fused data such that the model is configured to, in response to receiving fused data, the model outputs an action label for each object bounding box of the fused data. This output may then be used to control a vehicle in an autonomous driving mode.
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公开(公告)号：US20210293932A1
公开(公告)日：2021-09-23
申请号：US16990491
申请日：2020-08-11
Applicant: Waymo LLC
Inventor： Yi-Hui Bruce-Wen , YooJung Ahn , Jared Gross , Joshua Newby , Jerry Chen , Ralph Shepard , Adam Brown
IPC: G01S7/481 , G01S7/52 , G01S17/931 , G01S17/08 , G01S13/86
Abstract: The technology employs a contrasting color scheme on different surfaces for sensor housing assemblies mounted on exterior parts of a vehicle that is configured to operate in an autonomous driving mode. Lighter and darker colors may be chosen on different surfaces according to a thermal budget for a given sensor housing assembly, due to the different types of sensors arranged along particular surfaces, or to provide color contrast for different regions of the assembly. For instance, differing colors such as black/white or blue/white, and different finishes such as matte or glossy, may be selected to enhance certain attributes or to minimize issues associated with a sensor housing assembly.
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380.发明申请公开(公告)号：US20210291870A1
公开(公告)日：2021-09-23
申请号：US16928630
申请日：2020-07-14
Applicant: Waymo LLC
Inventor： Keith Hutchings , IImo van der Lowe , Vasily Starostenko
Abstract: Aspects of the disclosure relate to testing situational awareness of a test driver tasked with monitoring the driving of a vehicle operating in an autonomous driving mode. For instance, a signal that indicates that the test driver may be distracted may be identified. Based on the signal, that a question can be asked of the test driver may be determined. A plurality of factors relating to a driving context for the vehicle may be identified. Based on the determination, a question may be generated based on the plurality of factors. The question may be provided to the test driver. Input may be received from the test driver providing an answer to the question.
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