GENERATING SIMPLIFIED OBJECT MODELS TO REDUCE COMPUTATIONAL RESOURCE REQUIREMENTS FOR AUTONOMOUS VEHICLES

    公开(公告)号:US20200326703A1

    公开(公告)日:2020-10-15

    申请号:US16380398

    申请日:2019-04-10

    Applicant: Waymo LLC

    Inventor: Dong Li Fang Da

    Abstract: Aspects of the disclosure relate to controlling a vehicle using a simplified model of an object. In one example, sensor data including a plurality of data points corresponding to surfaces of the object in the vehicle's environment may be received from one or more sensors of the vehicle. A first model may be determined using a subset of the plurality of data points. A set of secondary data points may be identified from the plurality of data points using a point on the vehicle. The set of secondary data points may be filtered from the subset of the plurality data points to determine a second model, wherein the second model is a simplified version of the first model. The vehicle may be controlled in an autonomous driving mode based on the second model.

    SEMANTIC OBJECT CLUSTERING FOR AUTONOMOUS VEHICLE DECISION MAKING

    公开(公告)号:US20200004256A1

    公开(公告)日:2020-01-02

    申请号:US16513063

    申请日:2019-07-16

    Applicant: WAYMO LLC

    Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.

    SEMANTIC OBJECT CLUSTERING FOR AUTONOMOUS VEHICLE DECISION MAKING

    公开(公告)号:US20220326713A1

    公开(公告)日:2022-10-13

    申请号:US17851206

    申请日:2022-06-28

    Applicant: Waymo LLC

    Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.

    SEMANTIC OBJECT CLUSTERING FOR AUTONOMOUS VEHICLE DECISION MAKING

    公开(公告)号:US20190129432A1

    公开(公告)日:2019-05-02

    申请号:US15798926

    申请日:2017-10-31

    Applicant: Waymo LLC

    CPC classification number: G05D1/0214 G05D1/0088 G05D2201/0213

    Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.

    GENERATING SIMPLIFIED OBJECT MODELS TO REDUCE COMPUTATIONAL RESOURCE REQUIREMENTS FOR AUTONOMOUS VEHICLES

    公开(公告)号:US20210278843A1

    公开(公告)日:2021-09-09

    申请号:US17330601

    申请日:2021-05-26

    Applicant: Waymo LLC

    Inventor: Dong Li Fang Da

    Abstract: Aspects of the disclosure relate to controlling a vehicle using a simplified model of an object. In one example, sensor data including a plurality of data points corresponding to surfaces of the object in the vehicle's environment may be received from one or more sensors of the vehicle. A first model may be determined using a subset of the plurality of data points. A set of secondary data points may be identified from the plurality of data points using a point on the vehicle. The set of secondary data points may be filtered from the subset of the plurality data points to determine a second model, wherein the second model is a simplified version of the first model. The vehicle may be controlled in an autonomous driving mode based on the second model.

    Generating simplified object models to reduce computational resource requirements for autonomous vehicles

    公开(公告)号:US11048254B2

    公开(公告)日:2021-06-29

    申请号:US16380398

    申请日:2019-04-10

    Applicant: Waymo LLC

    Inventor: Dong Li Fang Da

    Abstract: Aspects of the disclosure relate to controlling a vehicle using a simplified model of an object. In one example, sensor data including a plurality of data points corresponding to surfaces of the object in the vehicle's environment may be received from one or more sensors of the vehicle. A first model may be determined using a subset of the plurality of data points. A set of secondary data points may be identified from the plurality of data points using a point on the vehicle. The set of secondary data points may be filtered from the subset of the plurality data points to determine a second model, wherein the second model is a simplified version of the first model. The vehicle may be controlled in an autonomous driving mode based on the second model.

    Semantic object clustering for autonomous vehicle decision making

    公开(公告)号:US10401862B2

    公开(公告)日:2019-09-03

    申请号:US15798926

    申请日:2017-10-31

    Applicant: Waymo LLC

    Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.

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