-
公开(公告)号：US20240135727A1
公开(公告)日：2024-04-25
申请号：US18403316
申请日：2024-01-03
Applicant: WAYMO LLC
Inventor： Romain Thibaux , David Harrison Silver , Congrui Hetang
IPC: G06V20/56 , B60W30/18 , G06F18/214 , G06F18/2413 , G06V10/25
CPC classification number: G06V20/588 , B60W30/181 , B60W30/18154 , G06F18/214 , G06F18/24147 , G06V10/25 , B60W2420/403
Abstract: The technology relates to approaches for determining appropriate stopping locations at intersections for vehicles operating in a self-driving mode. While many intersections have stop lines painted on the roadway, many others have no such lines. Even if a stop line is present, the physical location may not match what is in store map data, which may be out of date due to construction or line repainting. Aspects of the technology employ a neural network that utilizes input training data and detected sensor data to perform classification, localization and uncertain estimation processes. Based on these processes, the system is able to evaluate distribution information for possible stop locations. The vehicle uses such information to determine an optimal stop point, which may or may not correspond to a stop line in the map data. This information is also used to update the existing map data, which can be shared with other vehicles.
-
公开(公告)号：US11900697B2
公开(公告)日：2024-02-13
申请号：US17958711
申请日：2022-10-03
Applicant: WAYMO LLC
Inventor： Romain Thibaux , David Harrison Silver , Congrui Hetang
IPC: G06V20/56 , B60W30/18 , G06K9/62 , G06V10/25 , G06F18/214 , G06F18/2413
CPC classification number: G06V20/588 , B60W30/181 , B60W30/18154 , G06F18/214 , G06F18/24147 , G06V10/25 , B60W2420/42
Abstract: The technology relates to approaches for determining appropriate stopping locations at intersections for vehicles operating in a self-driving mode. While many intersections have stop lines painted on the roadway, many others have no such lines. Even if a stop line is present, the physical location may not match what is in store map data, which may be out of date due to construction or line repainting. Aspects of the technology employ a neural network that utilizes input training data and detected sensor data to perform classification, localization and uncertain estimation processes. Based on these processes, the system is able to evaluate distribution information for possible stop locations. The vehicle uses such information to determine an optimal stop point, which may or may not correspond to a stop line in the map data. This information is also used to update the existing map data, which can be shared with other vehicles.
-
公开(公告)号：US20230141636A1
公开(公告)日：2023-05-11
申请号：US17991182
申请日：2022-11-21
Applicant: Waymo LLC
Inventor： David Harrison Silver , Qichi Yang
CPC classification number: G05D1/0088 , B60W30/18009 , G06V20/584 , G05D2201/0213 , B60W2554/804 , B60W2555/60
Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.
-
公开(公告)号：US20230023913A1
公开(公告)日：2023-01-26
申请号：US17958711
申请日：2022-10-03
Applicant: WAYMO LLC
Inventor： Romain Thibaux , David Harrison Silver , Congrui Hetang
Abstract: The technology relates to approaches for determining appropriate stopping locations at intersections for vehicles operating in a self-driving mode. While many intersections have stop lines painted on the roadway, many others have no such lines. Even if a stop line is present, the physical location may not match what is in store map data, which may be out of date due to construction or line repainting. Aspects of the technology employ a neural network that utilizes input training data and detected sensor data to perform classification, localization and uncertain estimation processes. Based on these processes, the system is able to evaluate distribution information for possible stop locations. The vehicle uses such information to determine an optimal stop point, which may or may not correspond to a stop line in the map data. This information is also used to update the existing map data, which can be shared with other vehicles.
-
公开(公告)号：US11562573B2
公开(公告)日：2023-01-24
申请号：US17123185
申请日：2020-12-16
Applicant: WAYMO LLC
Inventor： Victoria Dean , Abhijit S Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
-
Patent Agency Ranking
公开(公告)号：US11561552B2
公开(公告)日：2023-01-24
申请号：US17021828
申请日：2020-09-15
Applicant: Waymo LLC
Inventor： David Harrison Silver , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , David Yonchar Margines
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing data characterizing a first region in an environment to generate a prediction characterizing a second region in the environment. One of the methods includes obtaining surfel data comprising a plurality of surfels; obtaining sensor data for a plurality of locations in a first region of the environment; determining, from the surfel data, a plurality of first surfels corresponding to respective locations in the first region of the environment; determining, using the first surfels and the sensor data, a difference between i) a first representation of the first region of the environment corresponding to the first surfels and ii) a second representation of the first region of the environment corresponding to the sensor data; and generating a respective object prediction for one or more locations in a second region of the environment.
-
公开(公告)号：US11551458B1
公开(公告)日：2023-01-10
申请号：US16925716
申请日：2020-07-10
Applicant: Waymo LLC
Abstract: Aspects of the disclosure relate to classifying the 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：US11373419B2
公开(公告)日：2022-06-28
申请号：US16941162
申请日：2020-07-28
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：US20220083073A1
公开(公告)日：2022-03-17
申请号：US17021828
申请日：2020-09-15
Applicant: Waymo LLC
Inventor： David Harrison Silver , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , David Yonchar Margines
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing data characterizing a first region in an environment to generate a prediction characterizing a second region in the environment. One of the methods includes obtaining surfel data comprising a plurality of surfels; obtaining sensor data for a plurality of locations in a first region of the environment; determining, from the surfel data, a plurality of first surfels corresponding to respective locations in the first region of the environment; determining, using the first surfels and the sensor data, a difference between i) a first representation of the first region of the environment corresponding to the first surfels and ii) a second representation of the first region of the environment corresponding to the sensor data; and generating a respective object prediction for one or more locations in a second region of the environment.
-
公开(公告)号：US11226626B1
公开(公告)日：2022-01-18
申请号：US16713568
申请日：2019-12-13
Applicant: Waymo LLC
Inventor： David Harrison Silver , Carl Kershaw , Pankaj Chaudhari
Abstract: The technology relates to detecting a person directing traffic. For instance, a first vehicle may be controlled in an autonomous driving mode. Sensor data is received from a perception system of the first vehicle, the sensor data identifying a person. Behavior of the person is observed using the sensor data. The observed behavior of the person and the observed behavior of a second vehicle are used to determine a likelihood value indicative of whether the person is directing traffic. The first vehicle is maneuvered in the autonomous driving mode based on the determined likelihood value.
-
-
-
-
-
-
-
-
-
Search Results
92
records
(took 0.023 seconds)
