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    Methods and Systems for Detecting Weather Conditions Using Vehicle Onboard Sensors
    2.
    发明申请
    Methods and Systems for Detecting Weather Conditions Using Vehicle Onboard Sensors 审中-公开

    公开(公告)号：US20190179052A1

    公开(公告)日：2019-06-13

    申请号：US16277436

    申请日：2019-02-15

    Applicant: Waymo LLC

    Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

    IPC: G01W1/00 ,  G05D1/00 ,  G01N21/47 ,  G01S17/02 ,  G01S17/87 ,  G01W1/14 ,  G05D1/02 ,  H04N7/18

    Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.

    Methods and systems for detecting weather conditions using vehicle onboard sensors
    5.
    发明授权
    Methods and systems for detecting weather conditions using vehicle onboard sensors 有权

    公开(公告)号：US11487046B2

    公开(公告)日：2022-11-01

    申请号：US16277436

    申请日：2019-02-15

    Applicant: Waymo LLC

    Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

    IPC: G01W1/00 ,  G05D1/00 ,  G01N21/47 ,  G01S17/87 ,  H04N7/18 ,  G05D1/02 ,  G01W1/14 ,  G01S17/86

    Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.

    Methods and systems for calibrating sensors using road map data
    6.
    发明授权
    Methods and systems for calibrating sensors using road map data 有权

    公开(公告)号：US10724865B1

    公开(公告)日：2020-07-28

    申请号：US15631642

    申请日：2017-06-23

    Applicant: Waymo LLC

    Inventor： Dave Ferguson ,  Dorel Ionut Iordache

    IPC: G01C11/06 ,  G01C21/00 ,  G01C25/00 ,  G01S17/89 ,  G01S17/87 ,  G01S7/497

    Abstract: Example methods and systems for calibrating sensors using road map data are provided. An autonomous vehicle may use various vehicle sensors to assist in navigation. Within examples, the autonomous vehicle may calibrate vehicle sensors through performing a comparison or analysis between information about the environment received by sensors with similar information provided by map data (e.g., a road map). The autonomous vehicle may compare object locations as provided by the sensors and as shown by map data. Based on the comparison, the autonomous vehicle may adjust various sensors to accurately reflect the information as provided by the road map. In some instances, the autonomous vehicle may adjust the position, height, orientation, direction-of-focus, scaling, or other parameters of a sensor based on the information provided by a road map.

    Use of detected objects for image processing
    7.
    发明授权
    Use of detected objects for image processing 有权

    公开(公告)号：US09804597B1

    公开(公告)日：2017-10-31

    申请号：US14855009

    申请日：2015-09-15

    Applicant: Waymo LLC

    Inventor： Dave Ferguson ,  Abhijit Ogale

    IPC: G05D1/00 ,  G01S17/02 ,  G05D1/02 ,  G01S19/13 ,  G01S13/02

    CPC classification number: G05D1/0088 ,  B60W30/00 ,  G01S13/02 ,  G01S17/02 ,  G01S19/13 ,  G05D1/0231 ,  G05D1/0246 ,  G05D2201/0213 ,  G06K9/00805 ,  G06K9/00825

    Abstract: Methods and systems for the use of detected objects for image processing are described. A computing device autonomously controlling a vehicle may receive images of the environment surrounding the vehicle from an image-capture device coupled to the vehicle. In order to process the images, the computing device may receive information indicating characteristics of objects in the images from one or more sources coupled to the vehicle. Examples of sources may include RADAR, LIDAR, a map, sensors, a global positioning system (GPS), or other cameras. The computing device may use the information indicating characteristics of the objects to process received images, including determining the approximate locations of objects within the images. Further, while processing the image, the computing device may use information from sources to determine portions of the image to focus upon that may allow the computing device to determine a control strategy based on portions of the image.

    Vision-based indicator signal detection using spatiotemporal filtering
    8.
    发明授权
    Vision-based indicator signal detection using spatiotemporal filtering 有权

    公开(公告)号：US10963707B2

    公开(公告)日：2021-03-30

    申请号：US16713995

    申请日：2019-12-13

    Applicant: Waymo LLC

    Inventor： Abhijit Ogale ,  Dave Ferguson

    IPC: G06K9/00 ,  B60R1/00 ,  G05D1/00 ,  G05D1/02 ,  G06K9/46 ,  H04N5/235

    Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.

    Vision-based indicator signal detection using spatiotemporal filtering
    9.
    发明授权
    Vision-based indicator signal detection using spatiotemporal filtering 有权

    公开(公告)号：US10509970B2

    公开(公告)日：2019-12-17

    申请号：US15862291

    申请日：2018-01-04

    Applicant: Waymo LLC

    Inventor： Abhijit Ogale ,  Dave Ferguson

    IPC: G06K9/00 ,  B60R1/00 ,  G05D1/00 ,  G05D1/02 ,  G06K9/46 ,  H04N5/235

    Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.

    Use of detected objects for image processing
    10.
    发明授权
    Use of detected objects for image processing 有权

    公开(公告)号：US10509402B1

    公开(公告)日：2019-12-17

    申请号：US15713263

    申请日：2017-09-22

    Applicant: Waymo LLC

    Inventor： Dave Ferguson ,  Abhijit Ogale

    IPC: G05D1/00 ,  G01S17/02 ,  G05D1/02 ,  G01S19/13 ,  G01S13/02

    Abstract: Methods and systems for the use of detected objects for image processing are described. A computing device autonomously controlling a vehicle may receive images of the environment surrounding the vehicle from an image-capture device coupled to the vehicle. In order to process the images, the computing device may receive information indicating characteristics of objects in the images from one or more sources coupled to the vehicle. Examples of sources may include RADAR, LIDAR, a map, sensors, a global positioning system (GPS), or other cameras. The computing device may use the information indicating characteristics of the objects to process received images, including determining the approximate locations of objects within the images. Further, while processing the image, the computing device may use information from sources to determine portions of the image to focus upon that may allow the computing device to determine a control strategy based on portions of the image.

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