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公开(公告)号：US20230315122A1
公开(公告)日：2023-10-05
申请号：US18131966
申请日：2023-04-07
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jens-Steffen Ralf Gutmann , Michael James
IPC: G05D1/02 , G01S17/95 , G01S15/88 , G01S13/95 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G01W1/02
CPC classification number: G05D1/0291 , G01S17/95 , G01S15/885 , G01S13/95 , G05D1/0214 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G01W1/02 , B60W2300/12 , G01W2203/00 , G05D1/0088
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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公开(公告)号：US20230282106A1
公开(公告)日：2023-09-07
申请号：US18118341
申请日：2023-03-07
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , H04R3/00 , G08G1/16 , G06F16/683 , G06F16/68
CPC classification number: G08G1/0965 , H04R3/005 , G08G1/166 , G06F16/683 , G06F16/686 , H04R2499/13 , G08G1/09626
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.
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公开(公告)号：US11636761B2
公开(公告)日：2023-04-25
申请号：US17476830
申请日：2021-09-16
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , H04R3/00 , G08G1/16 , G06F16/683 , G06F16/68 , G08G1/0962
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.
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公开(公告)号：US20210018919A1
公开(公告)日：2021-01-21
申请号：US16993672
申请日：2020-08-14
Applicant: Waymo LLC
Inventor： David Harrison Silver , Qichi Yang
Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.
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公开(公告)号：US10795362B2
公开(公告)日：2020-10-06
申请号：US16105233
申请日：2018-08-20
Applicant: Waymo LLC
Inventor： David Harrison Silver , Qichi Yang
Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.
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Patent Agency Ranking
公开(公告)号：US10739780B1
公开(公告)日：2020-08-11
申请号：US15939468
申请日：2018-03-29
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jur Pieter Van Den Berg , Nathaniel Fairfield
Abstract: Aspects of the disclosure relate to an autonomous vehicle that may detected other nearby vehicles and identify them as parked or unparked. This identification may be based on visual indicia displayed by the detected vehicles as well as traffic control factors relating to the detected vehicles. Detected vehicles that are in a known parking spot may automatically be identified as parked. In addition, detected vehicles that satisfy conditions that are indications of being parked may also be identified as parked. The autonomous vehicle may then base its control strategy on whether or not a vehicle has been identified as parked or not.
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公开(公告)号：US20200057443A1
公开(公告)日：2020-02-20
申请号：US16105233
申请日：2018-08-20
Applicant: Waymo LLC
Inventor： David Harrison Silver , Qichi Yang
Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.
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公开(公告)号：US20190205674A1
公开(公告)日：2019-07-04
申请号：US15857952
申请日：2017-12-29
Applicant: Waymo LLC
Inventor： David Harrison Silver , Pankaj Chaudhari , Carl Kershaw
IPC: G06K9/00 , G05D1/02 , B60W40/105 , G05D1/00
Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.
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公开(公告)号：US20180374347A1
公开(公告)日：2018-12-27
申请号：US15689336
申请日：2017-08-29
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , H04R3/00 , G06F17/30 , G08G1/16
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.
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公开(公告)号：US09939815B1
公开(公告)日：2018-04-10
申请号：US15622666
申请日：2017-06-14
Applicant: Waymo LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
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.
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