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    DETERMINING DRIVABILITY OF OBJECTS FOR AUTONOMOUS VEHICLES
    581.
    发明申请
    DETERMINING DRIVABILITY OF OBJECTS FOR AUTONOMOUS VEHICLES 审中-公开

    公开(公告)号：US20180032078A1

    公开(公告)日：2018-02-01

    申请号：US15292818

    申请日：2016-10-13

    Applicant: Waymo LLC

    Inventor： David Ian Franklin Ferguson ,  Andreas Wendel ,  Zhinan Xu ,  David Harrison Silver ,  Brandon Douglas Luders

    IPC: G05D1/02 ,  G05D1/00

    CPC classification number: G05D1/0214 ,  G05D1/0246 ,  G05D2201/0213 ,  G06K9/00805

    Abstract: Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle. The set of objects is filtered to remove objects corresponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The object is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle.

    Real-time image-based vehicle detection based on a multi-stage classification
    585.
    发明授权
    Real-time image-based vehicle detection based on a multi-stage classification 有权

    公开(公告)号：US09857798B2

    公开(公告)日：2018-01-02

    申请号：US15134570

    申请日：2016-04-21

    Applicant: Waymo LLC

    Inventor： Abhijit Ogale

    IPC: G05D1/02 ,  G06K9/32 ,  G06K9/62 ,  G06K9/00 ,  B60W30/17

    CPC classification number: G05D1/0231 ,  B60W30/17 ,  B60W2420/42 ,  G06K9/00791 ,  G06K9/00805 ,  G06K9/3241 ,  G06K9/6293 ,  G06K2209/23

    Abstract: The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes a vehicle detection system. The vehicle detection system includes receiving an image of a field of view of the vehicle and identifying a region-pair in the image with a sliding-window filter. The region-pair is made up of a first region and a second region. Each region is determined based on a color of pixels within the sliding-window filter. The vehicle detection system also determines a potential second vehicle in the image based on the region-pair. In response to determining the potential second vehicle in the image, the vehicle detection system performs a multi-stage classification of the image to determine whether the second vehicle is present in the image. Additionally, the vehicle detection system provides instructions to control the first vehicle based at least on the determined second vehicle.

    DETERMINING PICKUP AND DESTINATION LOCATIONS FOR AUTONOMOUS VEHICLES
    586.
    发明申请
    DETERMINING PICKUP AND DESTINATION LOCATIONS FOR AUTONOMOUS VEHICLES 审中-公开

    公开(公告)号：US20170370734A1

    公开(公告)日：2017-12-28

    申请号：US15645297

    申请日：2017-07-10

    Applicant: Waymo LLC

    Inventor： Peter Colijn ,  Joshua Seth Herbach ,  Matthew Paul McNaughton

    IPC: G01C21/34 ,  G08G1/00

    CPC classification number: G01C21/34 ,  G01C21/343 ,  G08G1/202 ,  G08G1/205 ,  G08G1/22

    Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.

    Phase coded linear frequency modulation for radar
    588.
    发明授权
    Phase coded linear frequency modulation for radar 有权

    公开(公告)号：US09841498B1

    公开(公告)日：2017-12-12

    申请号：US14548807

    申请日：2014-11-20

    Applicant: Waymo LLC

    Inventor： Tim Campbell ,  Russell Leigh Smith

    IPC: G01S13/02 ,  G01S7/41

    CPC classification number: G01S13/02 ,  G01S7/023 ,  G01S7/41 ,  G01S13/343 ,  G01S13/426 ,  G01S13/931 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9396

    Abstract: Disclosed herein are embodiments that relate to phase coded linear frequency modulation for a radar system. Embodiments include transmitting at least two signal pulses. The transmitting includes transmitting a first pulse with a first phase modulation and a first chip rate, and transmitting a second pulse with a second phase modulation and a second chip rate. The second chip rate may be different than the first chip rate. Embodiments also include receiving a signal that includes at least two reflection signals associated with reflection of the at least two transmitted signal pulses. Embodiments further include processing the received signal to determine target information. The processing includes filtering the received signal to time-align the at least two reflection signals. The filtering includes applying a frequency-dependent time delay to one or more of the at least two reflection signals. Additionally, embodiments include removing phase code modulations from the time-aligned reflection signals.

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