公开(公告)号：US20210240184A1

公开(公告)日：2021-08-05

申请号：US17215574

申请日：2021-03-29

Applicant: Waymo LLC

Inventor： Benjamin Charrow ,  Nathaniel Fairfield

IPC: G05D1/00 ,  B62D15/02 ,  G01C21/26 ,  G05D1/02 ,  G08G1/16

Abstract: The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.

公开(公告)号：US11079768B2

公开(公告)日：2021-08-03

申请号：US16896203

申请日：2020-06-08

Applicant: Waymo LLC

Inventor： David Ian Ferguson ,  Jiajun Zhu

IPC: G05D1/02 ,  G06K9/00 ,  G06T7/00

Abstract: Methods and systems for use of a reference image to detect a road obstacle are described. A computing device configured to control a vehicle, may be configured to receive, from an image-capture device, an image of a road on which the vehicle is travelling. The computing device may be configured to compare the image to a reference image; and identify a difference between the image and the reference image. Further, the computing device may be configured to determine a level of confidence for identification of the difference. Based on the difference and the level of confidence, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

公开(公告)号：US11073832B1

公开(公告)日：2021-07-27

申请号：US16382420

申请日：2019-04-12

Applicant: Waymo LLC

Inventor： Jens-Steffen Ralf Gutmann

IPC: G05D1/02 ,  B60W30/09 ,  B60W50/14

Abstract: A system and method for avoiding or mitigating collisions by an autonomous vehicle is provided. Raw sensor data for the vehicle's environment is received, such as through a perception system of the vehicle. A trajectory is also received, the trajectory having a width corresponding to a distance that is at least as wide as the vehicle. The trajectory and raw sensor data are projected onto a grid, such as a static occupancy grid, having a plurality of cells. It is determined whether any cell that overlaps with the trajectory includes the raw sensor data. It is further determined, based on the raw sensor data, whether an obstacle is present along the trajectory. When no obstacles are determined to be present along the trajectory, the trajectory may be verified. However, where obstacles are determined to be present, the vehicle may take an action to avoid collision.

公开(公告)号：US20210226401A1

公开(公告)日：2021-07-22

申请号：US17220392

申请日：2021-04-01

Applicant: Waymo LLC

Inventor： Bernard Fidric ,  Daniel Rosenfeld ,  Rahim Pardhan

IPC: H01S3/04 ,  G01S7/481 ,  H01S3/067 ,  G01S17/02 ,  G02B6/02 ,  G02B6/255 ,  H01S3/094 ,  H01S3/16

Abstract: The present disclosure relates to a fiber encapsulation mechanism for energy dissipation in a fiber amplifying system. One example embodiment includes an optical fiber amplifier. The optical fiber amplifier includes an optical fiber that includes a gain medium, as well as a polymer layer that at least partially surrounds the optical fiber. The polymer layer is optically transparent. In addition, the optical fiber amplifier includes a pump source. Optical pumping by the pump source amplifies optical signals in the optical fiber and generates excess heat and excess photons. The optical fiber amplifier additionally includes a heatsink layer disposed adjacent to the polymer layer. The heatsink layer conducts the excess heat away from the optical fiber. Further, the optical fiber amplifier includes an optically transparent layer disposed adjacent to the polymer layer. The optically transparent layer transmits the excess photons away from the optical fiber.

公开(公告)号：US20210221393A1

公开(公告)日：2021-07-22

申请号：US17155574

申请日：2021-01-22

Applicant: Waymo LLC

Inventor： Maria Moon ,  Hans-olav Cavelie ,  Juliet Rothenberg ,  Julien Mercay ,  Ryan Powell ,  Yang Li

IPC: B60W50/08 ,  H04L12/58 ,  G05D1/00 ,  G01C21/26 ,  B60W30/00

Abstract: Aspects of the present disclosure relate to prioritizing notifications for a vehicle operating in an autonomous driving mode. As an example, a set of notifications based on one or more messages received or transmitted by a planning system of the vehicle may be generated. Each notification of the set of notifications is assigned a priority ranking. The set of notifications may be stored in a cache and the one or more processors may determine a first notification for display based on the priority rankings of the set of notifications and the first notification may be displayed on a display of the vehicle to a passenger of the vehicle.

公开(公告)号：US11067988B1

公开(公告)日：2021-07-20

申请号：US16352174

申请日：2019-03-13

Applicant: Waymo LLC

Inventor： Aleksandra Faust ,  Matthieu Devin ,  Yu-hsin Joyce Chen ,  Franklin Morley ,  Vadim Furman ,  Carlos Alberto Fuertes Pascual

IPC: G05D1/00 ,  G05B13/02

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for implementing an interactive autonomous vehicle agent. One of the methods includes receiving a request to generate an experience tuple for a vehicle in a particular driving context. A predicted environment observation representing a predicted environment of the autonomous vehicle after the candidate action is taken by the autonomous vehicle in an initial environment is generated, including providing an initial environment observation and the candidate action as input to a vehicle behavior model neural network trained to generate predicted environment observations. An immediate quality value is generated from a context-specific quality model that generates immediate quality values that are specific to the particular driving context. An experience tuple comprising the initial environment observation, the candidate action, and the immediate quality value is generated and used as input to a reinforcement learning system for the autonomous vehicle.

公开(公告)号：US20210211576A1

公开(公告)日：2021-07-08

申请号：US17207787

申请日：2021-03-22

Applicant: Waymo LLC

Inventor： Nirmal Patel

IPC: H04N5/232 ,  G06T15/20 ,  B60R1/00 ,  G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to adjusting a virtual camera's orientation when a vehicle is making a turn. One or more computing devices may receive the vehicle's original heading prior to making the turn and the vehicle's current heading. Based on the vehicle's original heading and the vehicle's current heading, the one or more computing devices may determine an angle of a turn the vehicle is performing and The one or more computing devices may determine a camera rotation angle and adjust the virtual camera's orientation relative to the vehicle to an updated orientation by rotating the virtual camera by the camera rotation angle and generate a video corresponding to the virtual camera's updated orientation. The video may be displayed on the display by the one or more computing devices.

公开(公告)号：US20210206352A1

公开(公告)日：2021-07-08

申请号：US17159219

申请日：2021-01-27

Applicant: Waymo LLC

Inventor： Seth Gilbertson

IPC: B60S1/08 ,  B60S1/52 ,  B60S1/56

Abstract: This technology relates to system for clearing a sensor cover. The system may include a sprayer, a support, and a positioning device. The sprayer may be mounted to the support and direct a flow of fluid to the sensor cover. The positioning device may be configured to adjust the position of the sprayer on the support. The system may include a nozzle and the nozzle may be positioned to direct the flow of fluid to an area of the sensor cover. The system may include additional sprayers.

公开(公告)号：US11056005B2

公开(公告)日：2021-07-06

申请号：US16169080

申请日：2018-10-24

Applicant: Waymo LLC

Inventor： Maxim Krivokon ,  Abhijit S. Ogale ,  Edward Hsiao ,  Andreas Wendel

IPC: G06G1/16 ,  G05D1/00 ,  G06K9/00 ,  G06K9/66 ,  G08G1/01 ,  G08G1/04 ,  G08G1/095 ,  G08G1/16

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.

公开(公告)号：US11054834B2

公开(公告)日：2021-07-06

申请号：US16165114

申请日：2018-10-19

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Jens-Steffen Ralf Gutmann ,  Pei Sun

IPC: G05D1/02 ,  G05D1/00 ,  B60W30/18

Abstract: The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.