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公开(公告)号：US11993288B2
公开(公告)日：2024-05-28
申请号：US17565232
申请日：2021-12-29
Applicant: Waymo LLC
Inventor： Pablo Abad , Aman Ved Kalia , Juan Gomez-Ramos , Jiayi Chen , Jasman Singh Malik , Joe Riggs
CPC classification number: B60W60/0027 , B60W50/0098 , G05B13/0265 , B60W2050/0031 , B60W2520/10 , B60W2520/12 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2554/801 , B60W2554/802 , B60W2710/18 , B60W2720/10 , B60W2720/12
Abstract: Example embodiments relate to a method for cut-in identification and classification. An example embodiment includes a obtaining operational data about one or more vehicles; based on the operational data, identifying the presence of one or more cut-ins within the operational data; extracting, from the operational data, cut-in data that depicts one or more of the cut-ins identified within the operational data; and, based on the extracted cut-in data, training a model for controlling an autonomous vehicle. Identifying the presence of a given cut-in includes: determining that at least one vertex of a bounding box surrounding a vehicle was located more than a threshold distance within a lane being navigated by a given vehicle; and determining that the ability of the given vehicle to maintain its course and speed was impeded by the presence of the particular additional vehicle within the lane.
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公开(公告)号：US20230202530A1
公开(公告)日：2023-06-29
申请号：US17565232
申请日：2021-12-29
Applicant: Waymo LLC
Inventor： Pablo Abad , Aman Ved Kalia , Juan Gomez-Ramos , Jiayi Chen , Jasman Singh Malik , Joe Riggs
CPC classification number: B60W60/0027 , B60W50/0098 , G05B13/0265 , B60W2050/0031 , B60W2520/10 , B60W2520/12 , B60W2554/801 , B60W2554/802 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2710/18 , B60W2720/10 , B60W2720/12
Abstract: Example embodiments relate to a method for cut-in identification and classification. An example embodiment includes a obtaining operational data about one or more vehicles; based on the operational data, identifying the presence of one or more cut-ins within the operational data; extracting, from the operational data, cut-in data that depicts one or more of the cut-ins identified within the operational data; and, based on the extracted cut-in data, training a model for controlling an autonomous vehicle. Identifying the presence of a given cut-in includes: determining that at least one vertex of a bounding box surrounding a vehicle was located more than a threshold distance within a lane being navigated by a given vehicle; and determining that the ability of the given vehicle to maintain its course and speed was impeded by the presence of the particular additional vehicle within the lane.
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公开(公告)号：US20240106987A1
公开(公告)日：2024-03-28
申请号：US17933767
申请日：2022-09-20
Applicant: Waymo LLC
Inventor： Andre Manfred Strobel , Mark Stephen Calleija , Aman Ved Kalia
IPC: H04N7/18 , G01S13/931 , H04N5/225 , H04N5/247
CPC classification number: H04N7/181 , G01S13/931 , H04N5/2252 , H04N5/247 , G01S13/862 , G01S2013/93273 , G01S2013/93274
Abstract: A sensor assembly contains at least first and second sensors configured to perform imaging from a portion of a vehicle, each sensor having a respective field of view (FOV) based on an imaging direction of the sensor, each sensor having an FOV origin. The sensor assembly is configured to be disposed at the portion of the vehicle such that (i) the first and second sensors' FOV origins are each outboard from the vehicle, (ii) the first and second sensors' imaging directions are each within 90 degrees in yaw of being parallel to the backward direction of the vehicle, (iii) the first sensor's imaging direction is closer in yaw than the second sensor's imaging direction to being parallel to the backward direction of the vehicle, and (iv) the first sensor's FOV origin is more outboard from the vehicle than the second sensor's FOV origin.
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公开(公告)号：US20240262393A1
公开(公告)日：2024-08-08
申请号：US18639421
申请日：2024-04-18
Applicant: Waymo LLC
Inventor： Pablo Abad , Aman Ved Kalia , Juan Gomez-Ramos , Jiayi Chen , Jasman Singh Malik , Joe Riggs
CPC classification number: B60W60/0027 , B60W50/0098 , G05B13/0265 , B60W2050/0031 , B60W2520/10 , B60W2520/12 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2554/801 , B60W2554/802 , B60W2710/18 , B60W2720/10 , B60W2720/12
Abstract: Example embodiments relate to a method for cut-in identification and classification. An example embodiment includes a obtaining operational data about one or more vehicles; based on the operational data, identifying the presence of one or more cut-ins within the operational data; extracting, from the operational data, cut-in data that depicts one or more of the cut-ins identified within the operational data; and, based on the extracted cut-in data, training a model for controlling an autonomous vehicle. Identifying the presence of a given cut-in includes: determining that at least one vertex of a bounding box surrounding a vehicle was located more than a threshold distance within a lane being navigated by a given vehicle; and determining that the ability of the given vehicle to maintain its course and speed was impeded by the presence of the particular additional vehicle within the lane.
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