公开(公告)号：US20250147509A1

公开(公告)日：2025-05-08

申请号：US19011765

申请日：2025-01-07

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Qichi Yang

IPC: G05D1/00 ,  B60W30/18 ,  G06V20/58

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.

公开(公告)号：US20250095485A1

公开(公告)日：2025-03-20

申请号：US18966262

申请日：2024-12-03

Applicant: Waymo LLC

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

IPC: G08G1/0965 ,  G06F16/68 ,  G06F16/683 ,  G08G1/0962 ,  G08G1/16 ,  H04R3/00

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.

公开(公告)号：US12223831B2

公开(公告)日：2025-02-11

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 ,  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.

公开(公告)号：US20240351590A1

公开(公告)日：2024-10-24

申请号：US18655378

申请日：2024-05-06

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：US12090997B1

公开(公告)日：2024-09-17

申请号：US17123219

申请日：2020-12-16

Applicant: Waymo LLC

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

IPC: B60W30/09 ,  B60W30/095 ,  B60W30/18 ,  G05D1/00

CPC classification number: B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/18154 ,  G05D1/0088 ,  G05D1/0214 ,  B60W2554/00 ,  B60W2554/80 ,  B60W2556/00 ,  B60W2720/24

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：US11887474B2

公开(公告)日：2024-01-30

申请号：US16896845

申请日：2020-06-09

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Pankaj Chaudhari

IPC: G08G1/01 ,  G05D1/02 ,  G05D1/00 ,  G06K9/00 ,  G06V20/58 ,  G06V20/56

CPC classification number: G08G1/0145 ,  G05D1/0088 ,  G05D1/0214 ,  G06V20/58 ,  G06V20/588 ,  G06T2207/30236 ,  G06T2207/30256

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode, the method. For instance, a vehicle may be maneuvered in the autonomous driving mode using pre-stored map information identifying traffic flow directions. Data may be received from a perception system of the vehicle identifying objects in an external environment of the vehicle related to a traffic redirection not identified the map information. The received data may be used to identify one or more corridors of a traffic redirection. One of the one or more corridors may be selected based on a direction of traffic flow through the selected corridor. The vehicle may then be controlled in the autonomous driving mode to enter and follow the selected one of the one or more corridors based on the determined direction of flow of traffic through each of the one or more corridors.

公开(公告)号：US11594044B2

公开(公告)日：2023-02-28

申请号：US16897359

申请日：2020-06-10

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Pankaj Chaudhari ,  Carl Kershaw

IPC: G06F17/00 ,  G06V20/58 ,  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.

公开(公告)号：US20220063662A1

公开(公告)日：2022-03-03

申请号：US17003827

申请日：2020-08-26

Applicant: Waymo LLC

Inventor： Christoph Sprunk ,  David Harrison Silver ,  Carlos Hernandez Esteban ,  Michael Montemerlo ,  Peter Pawlowski ,  David Yonchar Margines

IPC: B60W60/00 ,  G06K9/62

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for autonomous driving with surfel maps. In some implementations, a three-dimensional representation of a real-world environment is obtained. Each of the surfels can correspond to a respective point of plurality of points in a three-dimensional space of the real-world environment. Input sensor data is received from multiple sensors installed on the autonomous vehicle. A pedestrian is detected from the input sensor data. A determination is made that the pedestrian is located behind a barrier. A driving plan is updated based on determining that the pedestrian is located behind a barrier.

公开(公告)号：US11164454B2

公开(公告)日：2021-11-02

申请号：US16843928

申请日：2020-04-09

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.

公开(公告)号：US11068726B1

公开(公告)日：2021-07-20

申请号：US16244554

申请日：2019-01-10

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Jonathan Baldwin Dowdall ,  David Ian Ferguson

IPC: G06K9/48 ,  G06K9/00 ,  G01V11/00 ,  G01S13/04 ,  G05D1/02 ,  G01S13/931 ,  G06K9/62 ,  G05D1/00 ,  G01S19/13 ,  G01S17/04 ,  G01S17/931

Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.