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    Handling sensor occlusions for autonomous vehicles
    1.
    发明授权
    Handling sensor occlusions for autonomous vehicles 有权

    公开(公告)号：US10146223B1

    公开(公告)日：2018-12-04

    申请号：US15299764

    申请日：2016-10-21

    Applicant: Waymo LLC

    Inventor： Brandon Douglas Luders ,  Vadim Furman ,  Nathaniel Fairfield

    IPC: G05D1/00 ,  G05D1/02

    Abstract: The technology relates to identifying sensor occlusions due to the limits of the ranges of a vehicle's sensors and using this information to maneuver the vehicle. As an example, the vehicle is maneuvered along a route that includes traveling on a first roadway and crossing over a lane of a second roadway. A trajectory is identified from the lane that will cross with the route during the crossing at a first point. A second point beyond a range of the vehicle's sensors is selected. The second point corresponds to a hypothetical vehicle moving towards the route along the lane. A distance between the first point and the second point is determined. An amount of time that it would take the hypothetical vehicle to travel the distance is determined and compared to a threshold amount of time. The vehicle is maneuvered based on the comparison to complete the crossing.

    Early object detection for unprotected turns
    2.
    发明授权
    Early object detection for unprotected turns 有权

    公开(公告)号：US11453392B2

    公开(公告)日：2022-09-27

    申请号：US16679723

    申请日：2019-11-11

    Applicant: Waymo LLC

    Inventor： Brandon Douglas Luders

    IPC: B60W30/09 ,  B60W30/18 ,  G05D1/00 ,  G05D1/02 ,  G08G1/00 ,  B62D15/02 ,  B60W30/12 ,  A01B69/00 ,  G01S17/93

    Abstract: A system and method is provided for early detection of objects by a perception system of a vehicle, and triggering a precautionary action by the vehicle in response without waiting for a more precise detection. The vehicle has a multi-level sensor range, wherein a first level of the sensor range is adjacent an outer bounds of the sensor range and has a first confidence value, and a second level of the sensor range is within the first range and has a second higher confidence value. In situations when oncoming traffic is traveling at a high rate of speed, the vehicle responds to noisier detections, or objects perceived with a lower degree of confidence, rather than waiting for verification which may come too late.

    Handling sensor occlusions for autonomous vehicles
    3.
    发明授权
    Handling sensor occlusions for autonomous vehicles 有权

    公开(公告)号：US11345335B1

    公开(公告)日：2022-05-31

    申请号：US16890274

    申请日：2020-06-02

    Applicant: Waymo LLC

    Inventor： Brandon Douglas Luders ,  Vadim Furman ,  Nathaniel Fairfield

    IPC: B60W30/00 ,  G08G1/16 ,  G01S17/00 ,  G01S13/931 ,  G05D1/00 ,  G05D1/02 ,  G01S17/931 ,  G06V20/56

    Abstract: The technology relates to identifying sensor occlusions due to the limits of the ranges of a vehicle's sensors and using this information to maneuver the vehicle. As an example, the vehicle is maneuvered along a route that includes traveling on a first roadway and crossing over a lane of a second roadway. A trajectory is identified from the lane that will cross with the route during the crossing at a first point. A second point beyond a range of the vehicle's sensors is selected. The second point corresponds to a hypothetical vehicle moving towards the route along the lane. A distance between the first point and the second point is determined. An amount of time that it would take the hypothetical vehicle to travel the distance is determined and compared to a threshold amount of time. The vehicle is maneuvered based on the comparison to complete the crossing.

    DETERMINING DRIVABILITY OF OBJECTS FOR AUTONOMOUS VEHICLES
    4.
    发明申请
    DETERMINING DRIVABILITY OF OBJECTS FOR AUTONOMOUS VEHICLES 审中-公开

    公开(公告)号：US20180032078A1

    公开(公告)日：2018-02-01

    申请号：US15292818

    申请日：2016-10-13

    Applicant: Waymo LLC

    Inventor： David Ian Franklin Ferguson ,  Andreas Wendel ,  Zhinan Xu ,  David Harrison Silver ,  Brandon Douglas Luders

    IPC: G05D1/02 ,  G05D1/00

    CPC classification number: G05D1/0214 ,  G05D1/0246 ,  G05D2201/0213 ,  G06K9/00805

    Abstract: Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle. The set of objects is filtered to remove objects corresponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The object is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle.

    EARLY OBJECT DETECTION FOR UNPROTECTED TURNS
    5.
    发明申请
    EARLY OBJECT DETECTION FOR UNPROTECTED TURNS 有权

    公开(公告)号：US20220242406A1

    公开(公告)日：2022-08-04

    申请号：US17728375

    申请日：2022-04-25

    Applicant: WAYMO LLC

    Inventor： Brandon Douglas Luders

    IPC: B60W30/09 ,  B60W30/18 ,  G05D1/00 ,  G05D1/02 ,  G08G1/00

    Abstract: A system and method are provided for early detection of objects by a perception system of a vehicle, and triggering a precautionary action by the vehicle in response without waiting for a more precise detection. The vehicle has a multi-level sensor range, wherein a first level of the sensor range is adjacent an outer bounds of the sensor range and has a first confidence value, and a second level of the sensor range is within the first range and has a second, higher confidence value. In situations when oncoming traffic is traveling at a high rate of speed, the vehicle responds to noisier detections, or objects perceived with a lower degree of confidence, rather than waiting for verification which may come too late.

    Methods and systems for clearing sensor occlusions
    6.
    发明授权
    Methods and systems for clearing sensor occlusions 有权

    公开(公告)号：US11249182B2

    公开(公告)日：2022-02-15

    申请号：US16143316

    申请日：2018-09-26

    Applicant: Waymo LLC

    Inventor： Brandon Douglas Luders ,  Tim Campbell ,  Nathaniel Fairfield

    IPC: G01S13/04 ,  G01S13/86 ,  G01S17/10 ,  G01S17/42 ,  G01S17/87 ,  G01S13/87 ,  G01S17/04 ,  G01S17/86 ,  G01S17/931 ,  G01S7/40 ,  G01S7/497 ,  G01S13/931

    Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

    Methods and systems for clearing sensor occlusions
    7.
    发明授权
    Methods and systems for clearing sensor occlusions 有权

    公开(公告)号：US10267908B2

    公开(公告)日：2019-04-23

    申请号：US14919667

    申请日：2015-10-21

    Applicant: Waymo LLC

    Inventor： Brandon Douglas Luders ,  Tim Campbell ,  Nathaniel Fairfield

    IPC: G01S13/04 ,  G01S13/86 ,  G01S7/40 ,  G01S7/497 ,  G01S13/93 ,  G01S17/02 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/87 ,  G01S13/87

    Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

    Responding to emergency vehicles for autonomous vehicles
    8.
    发明授权
    Responding to emergency vehicles for autonomous vehicles 有权

    公开(公告)号：US12252157B2

    公开(公告)日：2025-03-18

    申请号：US18497277

    申请日：2023-10-30

    Applicant: Waymo LLC

    Inventor： Aishwarya Parasuram ,  Xin Liu ,  Luyuan Lin ,  Brandon Douglas Luders

    IPC: B60W60/00 ,  G05D1/00

    Abstract: Sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.

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