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    Stop location change detection
    74.
    发明授权
    Stop location change detection 有权

    公开(公告)号：US11749000B2

    公开(公告)日：2023-09-05

    申请号：US17131232

    申请日：2020-12-22

    Applicant: WAYMO LLC

    Inventor： Romain Thibaux ,  David Harrison Silver ,  Congrui Hetang

    IPC: G06K9/00 ,  B60W30/18 ,  G06K9/32 ,  G06K9/62 ,  G06V20/56 ,  G06V10/25 ,  G06F18/214 ,  G06F18/2413

    CPC classification number: G06V20/588 ,  B60W30/181 ,  B60W30/18154 ,  G06F18/214 ,  G06F18/24147 ,  G06V10/25 ,  B60W2420/42

    Abstract: The technology relates to approaches for determining appropriate stopping locations at intersections for vehicles operating in a self-driving mode. While many intersections have stop lines painted on the roadway, many others have no such lines. Even if a stop line is present, the physical location may not match what is in store map data, which may be out of date due to construction or line repainting. Aspects of the technology employ a neural network that utilizes input training data and detected sensor data to perform classification, localization and uncertain estimation processes. Based on these processes, the system is able to evaluate distribution information for possible stop locations. The vehicle uses such information to determine an optimal stop point, which may or may not correspond to a stop line in the map data. This information is also used to update the existing map data, which can be shared with other vehicles.

    Detecting street parked vehicles
    75.
    发明授权
    Detecting street parked vehicles 有权

    公开(公告)号：US11550331B1

    公开(公告)日：2023-01-10

    申请号：US16919538

    申请日：2020-07-02

    Applicant: WAYMO LLC

    Inventor： David Harrison Silver ,  Jur Pieter Van Den Berg ,  Nathaniel Fairfield

    IPC: G05D1/02 ,  G08G1/0967 ,  G08G1/0962 ,  G08G1/16 ,  G08G1/015 ,  G05D1/00 ,  G08G1/052 ,  G06V20/58

    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.

    Stop Location Change Detection
    76.
    发明申请
    Stop Location Change Detection 有权

    公开(公告)号：US20220198199A1

    公开(公告)日：2022-06-23

    申请号：US17131232

    申请日：2020-12-22

    Applicant: WAYMO LLC

    Inventor： Romain Thibaux ,  David Harrison Silver ,  Congrui Hetang

    IPC: G06K9/00 ,  B60W30/18 ,  G06K9/32 ,  G06K9/62

    Abstract: The technology relates to approaches for determining appropriate stopping locations at intersections for vehicles operating in a self-driving mode. While many intersections have stop lines painted on the roadway, many others have no such lines. Even if a stop line is present, the physical location may not match what is in store map data, which may be out of date due to construction or line repainting. Aspects of the technology employ a neural network that utilizes input training data and detected sensor data to perform classification, localization and uncertain estimation processes. Based on these processes, the system is able to evaluate distribution information for possible stop locations. The vehicle uses such information to determine an optimal stop point, which may or may not correspond to a stop line in the map data. This information is also used to update the existing map data, which can be shared with other vehicles.

    Change detection using curve alignment
    77.
    发明授权
    Change detection using curve alignment 有权

    公开(公告)号：US11327493B1

    公开(公告)日：2022-05-10

    申请号：US16815204

    申请日：2020-03-11

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  David I. Ferguson

    IPC: G05D1/00 ,  G01C21/32 ,  B62D6/00 ,  B60W30/095 ,  G08G1/16 ,  G05D1/02 ,  B60W30/10

    Abstract: Aspects of the disclosure relate to determining whether a feature of map information. For example, data identifying an object detected in a vehicle's environment and including location coordinates is received. This information is used to identify a corresponding feature from pre-stored map information based on a map location of the corresponding feature. The corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding object. A tolerance constraint is identified based on the tag. The curve is divided into two or more line segments. Each line segment has a first position. The first position of a line segment is changed in order to determine a second position based on the location coordinates and the tolerance constraint. A value is determined based on a comparison of the first position to the second position. This value indicates a likelihood that the corresponding feature has changed.

    DETECTING AND RESPONDING TO SIRENS
    78.
    发明申请
    DETECTING AND RESPONDING TO SIRENS 有权

    公开(公告)号：US20220005348A1

    公开(公告)日：2022-01-06

    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

    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.

    Determining the stationary state of detected vehicles
    79.
    发明授权
    Determining the stationary state of detected vehicles 有权

    公开(公告)号：US11216002B1

    公开(公告)日：2022-01-04

    申请号：US16185284

    申请日：2019-03-06

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  David I. Ferguson

    IPC: G05D1/02 ,  B60W30/18 ,  G08G1/0967 ,  G06K9/00 ,  G08G1/0962 ,  G08G1/01 ,  G05D1/00 ,  G08G1/16 ,  B60W50/00 ,  B60W30/00

    Abstract: Aspects of the disclosure relate to an autonomous vehicle that may detect other nearby vehicles and designate stationary vehicles as being in one of a short-term stationary state or a long-term stationary state. This determination may be made based on various indicia, including visible indicia displayed by the detected vehicle and traffic control factors relating to the detected vehicle. For example, the autonomous vehicle may identify a detected vehicle as being in a long-term stationary state based on detection of hazard lights being displayed by the detected vehicle, as well as the absence of brake lights being displayed by the detected vehicle. The autonomous vehicle may then base its control strategy on the stationary state of the detected vehicle.

    Using Driver Assistance to Detect and Address Aberrant Driver Behavior
    80.
    发明申请
    Using Driver Assistance to Detect and Address Aberrant Driver Behavior 有权

    公开(公告)号：US20210107494A1

    公开(公告)日：2021-04-15

    申请号：US17065722

    申请日：2020-10-08

    Applicant: WAYMO LLC

    Inventor： David Harrison Silver

    IPC: B60W40/09 ,  G01C21/30 ,  B60W50/14 ,  G08G1/16 ,  B60W60/00 ,  B60W50/06

    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.

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