公开(公告)号：US20240329238A1

公开(公告)日：2024-10-03

申请号：US18738786

申请日：2024-06-10

Applicant: Waymo LLC

Inventor： Ryan Fan

IPC: G01S13/931 ,  G01S7/02 ,  G01S13/89

CPC classification number: G01S13/931 ,  G01S7/024 ,  G01S13/89

Abstract: Example embodiments relate to techniques that involve detecting and mitigating automotive interference. Electromagnetic signals propagating in the environment can be received by a radar unit that limits the signals received to a particular angle of arrival with reception antennas that limit the signals received to a particular polarization. Filters can be applied to the signals to remove portions that are outside an expected time range and an expected frequency range that depend on radar signal transmission parameters used by the radar unit. In addition, a model representing an expected electromagnetic signal digital representation can be used to remove portions of the signals that are indicative of spikes and plateaus associated with signal interference. A computing device can then generate an environment representation that indicates positions of surfaces relative to the vehicle using the remaining portions of the signals.

公开(公告)号：US12105200B2

公开(公告)日：2024-10-01

申请号：US17085259

申请日：2020-10-30

Applicant: Waymo LLC

Inventor： Caner Onal ,  Nirav Dharia ,  Giulia Guidi

IPC: G01S17/89 ,  G01N21/359 ,  G01S7/484 ,  G01S7/4861

CPC classification number: G01S17/89 ,  G01N21/359 ,  G01S7/484 ,  G01S7/4861

Abstract: A system includes a near-infrared (NIR) illuminator, an NIR image sensor, a light detection and ranging (LIDAR) device, and control circuitry configured to perform operations. The operations include causing the NIR illuminator to illuminate a portion of an environment, and obtaining, from the NIR image sensor, NIR image data representing the portion of the environment illuminated by the NIR illuminator. The operations also include detecting a retroreflector within the NIR image data and, based on detecting the retroreflector within the NIR image, determining a position of the retroreflector within the environment. The operations further include, based on the position of the retroreflector within the environment, adjusting at least one parameter of the LIDAR device in connection with scanning the retroreflector.

公开(公告)号：US20240317265A1

公开(公告)日：2024-09-26

申请号：US18734007

申请日：2024-06-05

Applicant: Waymo LLC

Inventor： Dong Li ,  Tian Jin ,  Mingxiang Fan ,  Rajiv Kurian

IPC: B60W60/00 ,  G08G1/16

CPC classification number: B60W60/0016 ,  B60W60/00272 ,  B60W60/00276 ,  G08G1/16 ,  B60W2554/80

Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.

公开(公告)号：US12097889B2

公开(公告)日：2024-09-24

申请号：US18194882

申请日：2023-04-03

Applicant: Waymo LLC

Inventor： Yuning Chai ,  Benjamin Sapp ,  Mayank Bansal ,  Dragomir Anguelov

IPC: B60W60/00 ,  G06F18/214 ,  G06N3/08 ,  G06V10/82 ,  G06V20/56

CPC classification number: B60W60/00274 ,  G06F18/214 ,  G06N3/08 ,  G06V10/82 ,  G06V20/56 ,  G06V20/588 ,  B60W2554/4041 ,  B60W2554/4044

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using anchor trajectories.

公开(公告)号：US20240308551A1

公开(公告)日：2024-09-19

申请号：US18672812

申请日：2024-05-23

Applicant: Waymo LLC

Inventor： Azadeh Dinparastdjadid ,  Johan Engstrom ,  Haoyu Chen ,  Isaac Supeene ,  Menghui Wang

IPC: B60W60/00 ,  G07C5/08

CPC classification number: B60W60/0027 ,  G07C5/0808 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2554/404

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing a backward looking surprise metric for autonomously driven vehicles. One of the methods includes obtaining first data representing one or more previously predicted states of an agent along one or more predicted trajectories of the agent at a first time step. Second data representing one or more states of the agent at a subsequent time step is obtained. A surprise score is computed from a measure of a difference between the first data computed for the one or more predicted trajectories for the prior time step and the second data computed for the one or more predicted states for the subsequent time step.

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：US20240303827A1

公开(公告)日：2024-09-12

申请号：US18600449

申请日：2024-03-08

Applicant: Waymo LLC

Inventor： Longlong Jing ,  Ruichi Yu ,  Xu Chen ,  Zhengli Zhao ,  Shiwei Sheng

IPC: G06T7/20 ,  G01S17/89 ,  G06V10/44

CPC classification number: G06T7/20 ,  G01S17/89 ,  G06V10/44 ,  G06T2207/30241 ,  G06V2201/07

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for tracking objects in an environment across time. In one aspect, a method comprises: receiving a set of current object detections, each characterizing features of a respective detected object; maintaining data, including track query feature representations, that identifies one or more object tracks (each associated with respective earlier object detections classified as characterizing the same object; and, for each object track: (i) selecting a subset of the current object detections as candidate object detections for the object track, (ii) generating a respective association score for each candidate object detection based on an input derived from the candidate object detections and the track query feature representation for the object track using a track-detection interaction neural network, and (iii) determining whether to associate any of the current object detections with the object track based on the respective association scores.

公开(公告)号：US12085952B2

公开(公告)日：2024-09-10

申请号：US17474266

申请日：2021-09-14

Applicant: Waymo LLC

Inventor： Valerio Varricchio

IPC: B60W60/00 ,  G05D1/00

CPC classification number: G05D1/0274 ,  G05D1/0212

Abstract: A system includes a memory device, and a processing device, operatively coupled to the memory device, to receive a set of input data including a representation of a drivable space for an autonomous vehicle (AV), generate, based on the representation of the drivable space, a motion planning blueprint from a flow field modeling the drivable space, and identify, using the motion planning blueprint, a driving path of the AV within the drivable space.

公开(公告)号：US12084086B2

公开(公告)日：2024-09-10

申请号：US17677540

申请日：2022-02-22

Applicant: Waymo LLC

Inventor： William Zhou

IPC: B60W60/00 ,  G01C21/00 ,  G01C21/34

CPC classification number: B60W60/00253 ,  G01C21/3461 ,  G01C21/3807 ,  G01C21/3841 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2552/05 ,  B60W2552/45 ,  B60W2554/4029 ,  B60W2554/4042 ,  B60W2555/60 ,  B60W2556/10 ,  B60W2556/40

Abstract: The technology involves identifying suitable pickup and drop-off locations based on detected pedestrian walking paths. Mapped areas have specific physical configurations, which may suggest places to pick up or drop off a rider (or a delivery). A walking path heatmap can be generated based on obtained historical and/or real-time pedestrian-related information, which can be obtained by autonomous vehicles driving in areas of interest. Incorporating heatmap information into the evaluation, the system identifies locations for optimized pickup or drop-off in accordance with where pedestrians would likely go. One aspect involves classifying different objects, for instance identifying one or more objects as people who may be walking versus riding a bicycle. Once classified, information about the paths is used to obtain a the heatmap associated with the walking paths.

公开(公告)号：US12078760B2

公开(公告)日：2024-09-03

申请号：US17585825

申请日：2022-01-27

Applicant: Waymo LLC

Inventor： Vlad Cardei ,  Lucian Ion

IPC: G01S7/497 ,  G01S17/10 ,  G01S17/931 ,  G05D1/00

CPC classification number: G01S7/497 ,  G01S17/10 ,  G01S17/931 ,  G05D1/0231 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0278

Abstract: Disclosed are devices and methods that may be used for the calibration of sensors of a vehicle. A calibration system disclosed herein includes a trigger device configured to detect a first sensing event. The calibration system further includes a plurality of sensor targets. Additionally, the calibration system includes a processor configured to reveal the plurality of sensor targets within a given region in response to the first sensing event. The calibration system may be configured to detect light from a LIDAR striking a light sensors. In response to detecting the light from the LIDAR, a plurality of lights, both visible and infrared, may be illuminated to correspond with a position and timing of the LIDAR pulse.