公开(公告)号：US10650677B2

公开(公告)日：2020-05-12

申请号：US16392745

申请日：2019-04-24

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：US20190011544A1

公开(公告)日：2019-01-10

申请号：US15644146

申请日：2017-07-07

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Luke Wachter

IPC: G01S7/497 ,  G01S7/481 ,  G01S17/93

Abstract: An example system includes a light detection and ranging (LIDAR) device that scans a field-of-view defined by a pointing direction of the LIDAR device. The system also includes an actuator that adjusts the pointing direction of the LIDAR device. The system also includes a communication interface that receives timing information from an external system. The system also includes a controller that causes the actuator to adjust the pointing direction of the LIDAR device based on at least the received timing information.