-
公开(公告)号：US10940851B2
公开(公告)日：2021-03-09
申请号：US16217531
申请日：2018-12-12
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jens-Steffen Ralf Gutmann , Michael James
Abstract: The technology relates to determining the current state of friction that a vehicle's wheels have with the road surface. This may be done via active or passive testing or other monitoring while the vehicles operates in an autonomous mode. In response to detecting the loss of traction, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. This may be done for both immediate driving operations and planning future portions of an ongoing trip. For instance, the on-board system is able to evaluate appropriate conditions and situations for active testing or passive evaluation of traction through autonomous braking and/or acceleration operations. The on-board computer system may share slippage and other road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.
-
公开(公告)号：US10852746B2
公开(公告)日：2020-12-01
申请号：US16217235
申请日：2018-12-12
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jens-Steffen Ralf Gutmann , Michael James
IPC: G05D1/02 , G01S17/95 , G01S15/88 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G05D1/00 , G01S13/95 , G01W1/02
Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.
-
公开(公告)号：US10762360B2
公开(公告)日：2020-09-01
申请号：US16194632
申请日：2018-11-19
Applicant: Waymo LLC
Inventor： David Harrison Silver , Ivan Bogun , Romain Thibaux
Abstract: Aspects of the disclosure relate to detecting unmapped drivable road surfaces. In one instance, sensor data captured by a sensor of an autonomous vehicle may be projected onto a grid having a plurality of cells. The plurality of cells may be classified by generating a label for each of the plurality of cells. Each label may identifies whether or not a corresponding cell contains a drivable surface. Ones of the plurality of cells may be clustered based on the labels to form a cluster of cells. An area of the cluster of cells may be compared to a map. Whether the area of the cluster of cells is an unmapped drivable road surface may be determined based on the comparison.
-
公开(公告)号：US10740630B1
公开(公告)日：2020-08-11
申请号：US16224175
申请日：2018-12-18
Applicant: Waymo LLC
Abstract: Aspects of the disclosure relate to classifying teh status of objects. For examples, one or more computing devices detect an object from an image of a vehicle's environment. The object is associated with a location. The one or more computing devices receive data corresponding to the surfaces of objects in the vehicle's environment and identifying data within a region around the location of the object. The one or more computing devices also determine whether the data within the region corresponds to a planar surface extending away from an edge of the object. Based on this determination, the one or more computing devices classify the status of the object.
-
公开(公告)号：US20200234579A1
公开(公告)日：2020-07-23
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
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.
-
Patent Agency Ranking
公开(公告)号：US10713940B2
公开(公告)日：2020-07-14
申请号：US15798881
申请日：2017-10-31
Applicant: Waymo LLC
Inventor： David Harrison Silver , Pankaj Chaudhari
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：US20200160068A1
公开(公告)日：2020-05-21
申请号：US16194632
申请日：2018-11-19
Applicant: Waymo LLC
Inventor： David Harrison Silver , Ivan Bogun , Romain Thibaux
Abstract: Aspects of the disclosure relate to detecting unmapped drivable road surfaces. In one instance, sensor data captured by a sensor of an autonomous vehicle may be projected onto a grid having a plurality of cells. The plurality of cells may be classified by generating a label for each of the plurality of cells. Each label may identifies whether or not a corresponding cell contains a drivable surface. Ones of the plurality of cells may be clustered based on the labels to form a cluster of cells. An area of the cluster of cells may be compared to a map. Whether the area of the cluster of cells is an unmapped drivable road surface may be determined based on the comparison.
-
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：US10401859B1
公开(公告)日：2019-09-03
申请号：US15915383
申请日：2018-03-08
Applicant: Waymo LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.
-
公开(公告)号：US10204278B2
公开(公告)日：2019-02-12
申请号：US15094776
申请日：2016-04-08
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jonathan Baldwin Dowdall , David Ian Ferguson
IPC: G06K9/00 , G05D1/02 , G01V11/00 , G01S13/04 , G01S13/93 , G01S17/02 , G01S17/93 , G01S19/13 , G05D1/00 , G06K9/62
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.
-
-
-
-
-
-
-
-
-
Search Results
92
records
(took 0.017 seconds)
