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31.发明公开公开(公告)号：US20230341871A1
公开(公告)日：2023-10-26
申请号：US18346486
申请日：2023-07-03
Applicant: Waymo LLC
Inventor： Dmitri A. Dolgov , Christopher Paul Urmson
IPC: G05D1/02
CPC classification number: G05D1/0274 , G05D1/0248 , G05D1/0257 , G05D1/0276 , G05D2201/0213 , B60W30/18154
Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.
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公开(公告)号：US11205240B2
公开(公告)日：2021-12-21
申请号：US15358729
申请日：2016-11-22
Applicant: Waymo LLC
Inventor： Christopher Paul Urmson , Peter Colijn , Dmitri A. Dolgov , Nathaniel Fairfield , Salil Pandit , Nirmal Patel , Ryan Powell , Min Li Chan
IPC: G06Q50/30 , G06Q10/06 , G05D1/00 , G08G1/123 , G01C21/36 , G01C21/34 , B60W60/00 , G08G1/005 , G08G1/00
Abstract: The technology relates to facilitating transportation services between a user and a vehicle having an autonomous driving mode. For instance, one or more server computing devices having one or more processors may information identifying the current location of the vehicle. The one or more server computing devices may determine that the user is likely to want to take a trip to a particular destination based on prior location history for the user. The one or more server computing devices may dispatch the vehicle to cause the vehicle to travel in the autonomous driving mode towards a location of the user. In addition, after dispatching, the one or more server computing devices sending a notification to a client computing device associated with the user indicating that the vehicle is currently available to take the passenger to the particular destination.
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公开(公告)号：US11198430B1
公开(公告)日：2021-12-14
申请号：US16039827
申请日：2018-07-19
Applicant: Waymo LLC
Inventor： Jiajun Zhu , David I. Ferguson , Dmitri A. Dolgov
IPC: B60W30/09 , B60W30/095 , B60W30/08 , B60W50/00 , G08G1/0967 , G08G1/16 , G05D1/02 , G06K9/32 , G06K9/00 , G05D1/00 , G08G1/0962 , G06N3/00 , G01R19/25
Abstract: A method and apparatus are provided for determining one or more behavior models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the behavior models. The server may determine the behavior models according to a given object classification, actions of interest performed by the object, and the object's perceived surroundings.
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公开(公告)号：US11188092B2
公开(公告)日：2021-11-30
申请号：US16773606
申请日：2020-01-27
Applicant: Waymo LLC
Inventor： Dmitri A. Dolgov , Christopher Paul Urmson
Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.
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公开(公告)号：US10663975B2
公开(公告)日：2020-05-26
申请号：US15718794
申请日：2017-09-28
Applicant: Waymo LLC
Inventor： Dmitri A. Dolgov , Christopher Paul Urmson
Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.
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Patent Agency Ranking
36.发明申请公开(公告)号：US20200159248A1
公开(公告)日：2020-05-21
申请号：US16773606
申请日：2020-01-27
Applicant: Waymo LLC
Inventor： Dmitri A. Dolgov , Christopher Paul Urmson
IPC: G05D1/02
Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.
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公开(公告)号：US20190351897A1
公开(公告)日：2019-11-21
申请号：US16448230
申请日：2019-06-21
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：US10345810B1
公开(公告)日：2019-07-09
申请号：US15659071
申请日：2017-07-25
Applicant: WAYMO LLC
Inventor： Jiajun Zhu , Christopher Urmson , David I. Ferguson , Nathaniel Fairfield , Dmitri A. Dolgov
Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.
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公开(公告)号：US10005460B2
公开(公告)日：2018-06-26
申请号：US15618461
申请日：2017-06-09
Applicant: Waymo LLC
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
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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40.发明申请公开(公告)号：US20180032085A1
公开(公告)日：2018-02-01
申请号：US15719912
申请日：2017-09-29
Applicant: Waymo LLC
Inventor： Dmitri A. Dolgov , Christopher Paul Urmson
Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.
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