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公开(公告)号：US11521130B2
公开(公告)日：2022-12-06
申请号：US17828196
申请日：2022-05-31
Applicant: Waymo LLC
Inventor： Xin Zhou , Roshni Cooper , Michael James
Abstract: The technology relates to using on-board sensor data, off-board information and a deep learning model to classify road wetness and/or to perform a regression analysis on road wetness based on a set of input information. Such information includes on-board and/or off-board signals obtained from one or more sources including on-board perception sensors, other on-board modules, external weather measurement, external weather services, etc. The ground truth includes measurements of water film thickness and/or ice coverage on road surfaces. The ground truth, on-board and off-board signals are used to build the model. The constructed model can be deployed in autonomous vehicles for classifying/regressing the road wetness with on-board and/or off-board signals as the input, without referring to the ground truth. The model can be applied in a variety of ways to enhance autonomous vehicle operation, for instance by altering current driving actions, modifying planned routes or trajectories, activating on-board cleaning systems, etc.
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公开(公告)号：US11521127B2
公开(公告)日：2022-12-06
申请号：US16893664
申请日：2020-06-05
Applicant: Waymo LLC
Inventor： Xin Zhou , Roshni Cooper , Michael James
Abstract: The technology relates to using on-board sensor data, off-board information and a deep learning model to classify road wetness and/or to perform a regression analysis on road wetness based on a set of input information. Such information includes on-board and/or off-board signals obtained from one or more sources including on-board perception sensors, other on-board modules, external weather measurement, external weather services, etc. The ground truth includes measurements of water film thickness and/or ice coverage on road surfaces. The ground truth, on-board and off-board signals are used to build the model. The constructed model can be deployed in autonomous vehicles for classifying/regressing the road wetness with on-board and/or off-board signals as the input, without referring to the ground truth. The model can be applied in a variety of ways to enhance autonomous vehicle operation, for instance by altering current driving actions, modifying planned routes or trajectories, activating on-board cleaning systems, etc.
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公开(公告)号：US10940851B2
公开(公告)日：2021-03-09
申请号：US16217531
申请日：2018-12-12
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jens-Steffen Ralf Gutmann , Michael James
Abstract: The technology relates to determining the current state of friction that a vehicle's wheels have with the road surface. This may be done via active or passive testing or other monitoring while the vehicles operates in an autonomous mode. In response to detecting the loss of traction, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. This may be done for both immediate driving operations and planning future portions of an ongoing trip. For instance, the on-board system is able to evaluate appropriate conditions and situations for active testing or passive evaluation of traction through autonomous braking and/or acceleration operations. The on-board computer system may share slippage and other road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.
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公开(公告)号：US10852746B2
公开(公告)日：2020-12-01
申请号：US16217235
申请日：2018-12-12
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jens-Steffen Ralf Gutmann , Michael James
IPC: G05D1/02 , G01S17/95 , G01S15/88 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G05D1/00 , G01S13/95 , G01W1/02
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.
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