公开(公告)号：US10902272B2

公开(公告)日：2021-01-26

申请号：US16879299

申请日：2020-05-20

Applicant: Waymo LLC

Inventor： Victoria Dean ,  Abhijit S. Ogale ,  Henrik Kretzschmar ,  David Harrison Silver ,  Carl Kershaw ,  Pankaj Chaudhari ,  Chen Wu ,  Congcong Li

IPC: G06K9/00 ,  G05D1/00 ,  G06N3/08 ,  G06T11/20 ,  G06F40/30 ,  G06K9/34

Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.

公开(公告)号：US20190392231A1

公开(公告)日：2019-12-26

申请号：US16018490

申请日：2018-06-26

Applicant: Waymo LLC

Inventor： Victoria Dean ,  Abhijit S. Ogale ,  Henrik Kretzschmar ,  David Harrison Silver ,  Carl Kershaw ,  Pankaj Chaudhari ,  Chen Wu ,  Congcong Li

IPC: G06K9/00 ,  G05D1/00 ,  G06N3/08 ,  G06F17/27 ,  G06K9/34 ,  G06T11/20

Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.

公开(公告)号：US10181084B2

公开(公告)日：2019-01-15

申请号：US15498911

申请日：2017-04-27

Applicant: Waymo LLC

Inventor： David Ian Franklin Ferguson ,  David Harrison Silver

IPC: G06K9/00 ,  G05D1/02 ,  G06K9/62 ,  G05D1/00 ,  G06T7/73

Abstract: A vehicle is provided that may combine multiple estimates of an environment into a consolidated estimate. The vehicle may receive first data indicative of the region of interest in an environment from a sensor of the vehicle. The first data may include a first accuracy value and a first estimate of the region of interest. The vehicle may also receive second data indicative of the region of interest in the environment, and the second data may include a second accuracy value and a second estimate of the region of interest. Based on the first data and the second data, the vehicle may combine the first estimate of the region of interest and the second estimate of the region of interest.

公开(公告)号：US09914452B1

公开(公告)日：2018-03-13

申请号：US15278341

申请日：2016-09-28

Applicant: Waymo LLC

Inventor： David Ian Franklin Ferguson ,  David Harrison Silver ,  Stéphane Ross ,  Nathaniel Fairfield ,  Ioan-Alexandru Sucan

IPC: B60W30/09 ,  B60W30/095

CPC classification number: B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/18154 ,  B60W2550/10 ,  B60W2550/30 ,  B60W2600/00 ,  B60W2720/24 ,  G05D1/0088 ,  G05D1/0214

Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.

公开(公告)号：US09836052B1

公开(公告)日：2017-12-05

申请号：US15070425

申请日：2016-03-15

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  David I. Ferguson

IPC: G01C22/00 ,  G05D1/00

CPC classification number: G05D1/0088 ,  B60W30/0956 ,  B60W30/10 ,  B62D6/00 ,  G01C21/32 ,  G05D1/0214 ,  G08G1/16

Abstract: Aspects of the disclosure relate to determining whether a feature of map information. For example, data identifying an object detected in a vehicle's environment and including location coordinates is received. This information is used to identify a corresponding feature from pre-stored map information based on a map location of the corresponding feature. The corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding feature. A tolerance constraint is identified based on the tag. The curve is divided into two or more line segments. Each line segment has a first position. The first position of a line segment is changed in order to determine a second position based on the location coordinates and the tolerance constraint. A value is determined based on a comparison of the first position to the second position. This value indicates a likelihood that the corresponding feature has changed.

公开(公告)号：US09709985B1

公开(公告)日：2017-07-18

申请号：US15258396

申请日：2016-09-07

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  David Ian Franklin Ferguson ,  Abhijit S. Ogale ,  Wan-Yen Lo

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0088 ,  B60W30/00 ,  B60W2550/22 ,  G01C21/26 ,  G01C21/3602 ,  G05D1/0231

Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.

公开(公告)号：US20250069506A1

公开(公告)日：2025-02-27

申请号：US18946349

申请日：2024-11-13

Applicant: Waymo LLC

Inventor： Chi Yeung Jonathan Ng ,  Anthony Ronald Grue ,  Qichi Yang ,  Kevin Poulet ,  Zijian Guo ,  David Harrison Silver

IPC: G08G1/14 ,  G06N5/04 ,  G06N20/00

Abstract: Aspects of the disclosure provide for the identification of parkable areas. In one instance, observations of parked vehicles may be identified from logged data. The observations may be used to determine whether a sub-portion of an edge of a roadgraph corresponds to a parkable area. In some examples, the edge may define a drivable area in the roadgraph. In addition, map information is generated based on the determination of whether the sub-portion of the edge corresponds to the parkable area.

公开(公告)号：US20240361771A1

公开(公告)日：2024-10-31

申请号：US18767042

申请日：2024-07-09

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Jens-Steffen Ralf Gutmann ,  Michael James

IPC: G05D1/00 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  G01S13/95 ,  G01S15/88 ,  G01S17/95 ,  G01W1/02

CPC classification number: G05D1/0291 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  G01S13/95 ,  G01S15/885 ,  G01S17/95 ,  G01W1/02 ,  B60W2300/12 ,  B60W2300/145 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2420/54 ,  B60W2552/00 ,  B60W2555/20 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/106 ,  G01W2203/00

Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.

公开(公告)号：US12005906B2

公开(公告)日：2024-06-11

申请号：US17065722

申请日：2020-10-08

Applicant: WAYMO LLC

Inventor： David Harrison Silver

IPC: B60W40/09 ,  B60W50/06 ,  B60W50/14 ,  B60W60/00 ,  G01C21/30 ,  G08G1/16

CPC classification number: B60W40/09 ,  B60W50/06 ,  B60W50/14 ,  B60W60/0015 ,  B60W60/0051 ,  G01C21/30 ,  G08G1/166 ,  B60W2540/30 ,  B60W2556/10 ,  B60W2556/65

Abstract: The technology relates to identifying and addressing aberrant driver behavior. Various driving operations may be evaluated over different time scales and driving distances. The system can detect driving errors and suboptimal maneuvering, which are evaluated by an onboard driver assistance system and compared against a model of expected driver behavior. The result of this comparison can be used to alert the driver or take immediate corrective driving action. It may also be used for real-time or offline training or sensor calibration purposes. The behavior model may be driver-specific, or may be a nominal driver model based on aggregated information from many drivers. These approaches can be employed with drivers of passenger vehicles, busses, cargo trucks and other vehicles.

公开(公告)号：US20240087451A1

公开(公告)日：2024-03-14

申请号：US18508354

申请日：2023-11-14

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Angus Leigh ,  Benjamin Ingram ,  Jennifer Taylor ,  Vaibhav Nangia

IPC: G08G1/0965 ,  G06F16/68 ,  G06F16/683 ,  G08G1/16 ,  H04R3/00

CPC classification number: G08G1/0965 ,  G06F16/683 ,  G06F16/686 ,  G08G1/166 ,  H04R3/005 ,  G08G1/09626 ,  H04R2499/13

Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.