公开(公告)号：US11106893B1

公开(公告)日：2021-08-31

申请号：US16692643

申请日：2019-11-22

Applicant: WAYMO LLC

Inventor： Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

IPC: G06K9/00 ,  B60T8/00 ,  B60W30/08 ,  B60R1/00 ,  B60T17/18 ,  B60T17/22 ,  G06T7/223 ,  G05D1/00 ,  G06T7/20 ,  G01S17/86 ,  G01C21/36 ,  G01S17/931 ,  B60T8/88 ,  G05D1/02 ,  G06T7/231 ,  B60T7/22 ,  G06T7/73 ,  G06T7/521 ,  B60T8/17 ,  B62D6/00 ,  G06K9/32 ,  G01S13/86 ,  B60W50/029 ,  B60W30/186

Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

公开(公告)号：US20190266815A1

公开(公告)日：2019-08-29

申请号：US15908113

申请日：2018-02-28

Applicant: Waymo LLC

Inventor： Ryan Joseph Andrade ,  Ryan Cash ,  Peter Colijn ,  Laurens Andreas Feenstra ,  Congyu Gao ,  Dirk Haehnel ,  Steven Reis ,  Omari Stephens

IPC: G07C5/08 ,  G05D1/02 ,  G05D1/00 ,  G07C5/00 ,  B60W30/182 ,  B60W40/02

Abstract: Aspects of the disclosure relate to determining vehicle operation modes for a fleet of vehicles. This may include maintaining a storage system including vehicle parameters for a vehicle fleet such that each vehicle of the fleet is associated with a set of vehicle parameters. The vehicle operation mode may be determined by selecting one of a plurality of vehicle operation levels arranged in a hierarchy or by identifying a set of tags where each level or tag corresponds to a vehicle driving capability. The determined vehicle operation mode may be communicated to the given vehicle in order to cause the vehicle to operate according to the determined vehicle operation mode.

公开(公告)号：US10198619B1

公开(公告)日：2019-02-05

申请号：US15874130

申请日：2018-01-18

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

IPC: G06K9/00 ,  G06T7/223 ,  G06T7/231 ,  G06T7/20 ,  B60R1/00

Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

公开(公告)号：US10037039B1

公开(公告)日：2018-07-31

申请号：US15599757

申请日：2017-05-19

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Dirk Haehnel

IPC: G08G1/01 ,  G05D1/02 ,  G01S17/93 ,  G01S17/89 ,  G01S17/42 ,  G05D1/00 ,  B60K31/00 ,  G06K9/00 ,  G06T7/13

CPC classification number: G05D1/0274 ,  B60K31/0008 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088 ,  G05D1/024 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/11 ,  G06T7/13 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may use a laser to collect scan data for a section of roadway. The vehicle may access a detailed map including the section of the roadway. A disturbance indicative of an object and including a set of data points data may be identified from the scan data based on the detailed map. The detailed map may also be used to estimate a heading of the disturbance. A bounding box for the disturbance may be estimated using the set of data points as well as the estimated heading. The parameters of the bounding box may then be adjusted in order to increase or maximize the average density of data points of the disturbance along the edges of the bounding box visible to the laser. This adjusted bounding box may then used to maneuver the vehicle.

公开(公告)号：US11893524B2

公开(公告)日：2024-02-06

申请号：US18112047

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： David Margines ,  Tacettin Guney ,  Saksiri Tanphaichitr ,  Jeffrey Min ,  Laurens Feenstra ,  Peter Pawlowski ,  Dirk Haehnel

IPC: G06Q10/06 ,  G06Q10/08 ,  G06Q10/0631 ,  G06Q10/02 ,  H04W4/40 ,  G08G1/00 ,  H04W4/021 ,  G06Q50/30

CPC classification number: G06Q10/06312 ,  G06Q10/02 ,  G06Q10/06315 ,  G06Q50/30 ,  G08G1/202 ,  H04W4/021 ,  H04W4/40

Abstract: Aspects of the technology relate to providing service area maps for an autonomous vehicle transportation service having a fleet of vehicles. For instance, each vehicle of the fleet is associated with a polygon corresponding to a service area for that vehicle. A first location may be received from a client computing device, and a set of vehicles of the fleet of vehicles that are currently available to provide transportation services may be identified based on the first location. The polygons associated with each of the set of vehicles may be used to determine a first polygon having a geographic area. A first portion of map information corresponding to the geographic area of the first polygon may be identified, and the first portion may be provided to the client computing device for display to a user such that the portion represents a currently available service area for the user.

公开(公告)号：US11747809B1

公开(公告)日：2023-09-05

申请号：US17387199

申请日：2021-07-28

Applicant: WAYMO LLC

Inventor： Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

IPC: G06K9/00 ,  G05D1/00 ,  G06T7/521 ,  G06T7/73 ,  B60T8/17 ,  B60T8/00 ,  B60T7/22 ,  B60T17/22 ,  B60W50/14 ,  B60T17/18 ,  B60T8/88 ,  B60W40/06 ,  G01S17/86 ,  G01S17/931 ,  G05D1/02 ,  G06Q10/02 ,  G06Q30/02 ,  G06Q30/0207 ,  G06Q40/08 ,  G07C9/00 ,  B60W30/08 ,  G01C21/36 ,  B60R1/00 ,  G06T7/20 ,  G06T7/231 ,  G06T7/223 ,  G06V20/58 ,  G06V20/64 ,  B60W50/029 ,  B60W30/186 ,  G01S13/86 ,  B62D6/00 ,  G06V10/20 ,  G06V20/56

CPC classification number: G05D1/0088 ,  B60R1/00 ,  B60T7/22 ,  B60T8/00 ,  B60T8/17 ,  B60T8/885 ,  B60T17/18 ,  B60T17/221 ,  B60W30/08 ,  B60W40/06 ,  B60W50/14 ,  G01C21/3617 ,  G01S17/86 ,  G01S17/931 ,  G05D1/0055 ,  G05D1/021 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0276 ,  G06Q10/02 ,  G06Q30/02 ,  G06Q30/0207 ,  G06Q40/08 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T7/521 ,  G06T7/74 ,  G06V20/58 ,  G06V20/64 ,  G07C9/00563 ,  B60R2300/30 ,  B60T2201/022 ,  B60T2210/32 ,  B60T2270/406 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2552/05 ,  B60W2555/60 ,  B60W2556/10 ,  B60W2556/50 ,  B62D6/00 ,  G01S13/865 ,  G01S13/867 ,  G05B2219/2637 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0213 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261 ,  G06V10/255 ,  G06V20/56 ,  G06V20/588

Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

公开(公告)号：US20230196232A1

公开(公告)日：2023-06-22

申请号：US18112047

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： David Margines ,  Tacettin Guney ,  Saksiri Tanphaichitr ,  Jeffrey Min ,  Laurens Feenstra ,  Peter Pawlowski ,  Dirk Haehnel

IPC: G06Q10/0631 ,  G06Q10/02 ,  H04W4/40 ,  G08G1/00 ,  H04W4/021 ,  G06Q50/30

CPC classification number: G06Q10/06312 ,  G06Q10/02 ,  G06Q10/06315 ,  G06Q50/30 ,  G08G1/202 ,  H04W4/021 ,  H04W4/40

Abstract: Aspects of the technology relate to providing service area maps for an autonomous vehicle transportation service having a fleet of vehicles. For instance, each vehicle of the fleet is associated with a polygon corresponding to a service area for that vehicle. A first location may be received from a client computing device, and a set of vehicles of the fleet of vehicles that are currently available to provide transportation services may be identified based on the first location. The polygons associated with each of the set of vehicles may be used to determine a first polygon having a geographic area. A first portion of map information corresponding to the geographic area of the first polygon may be identified, and the first portion may be provided to the client computing device for display to a user such that the portion represents a currently available service area for the user.

公开(公告)号：US09911030B1

公开(公告)日：2018-03-06

申请号：US15587680

申请日：2017-05-05

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

IPC: G06K9/00 ,  G06T7/223 ,  G06T7/231 ,  G06T7/20 ,  B60R1/00

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

公开(公告)号：US11615355B2

公开(公告)日：2023-03-28

申请号：US16697618

申请日：2019-11-27

Applicant: Waymo LLC

Inventor： David Margines ,  Tacettin Guney ,  Saksiri Tanphaichitr ,  Jeffrey Min ,  Laurens Feenstra ,  Peter Pawlowski ,  Dirk Haehnel

IPC: G06Q10/06 ,  G06Q10/08 ,  G06Q10/0631 ,  G06Q10/02 ,  H04W4/40 ,  G08G1/00 ,  H04W4/021 ,  G06Q50/30

Abstract: Aspects of the technology relate to providing service area maps for an autonomous vehicle transportation service having a fleet of vehicles. For instance, each vehicle of the fleet is associated with a polygon corresponding to a service area for that vehicle. A first location may be received from a client computing device, and a set of vehicles of the fleet of vehicles that are currently available to provide transportation services may be identified based on the first location. The polygons associated with each of the set of vehicles may be used to determine a first polygon having a geographic area. A first portion of map information corresponding to the geographic area of the first polygon may be identified, and the first portion may be provided to the client computing device for display to a user such that the portion represents a currently available service area for the user.

公开(公告)号：US10572717B1

公开(公告)日：2020-02-25

申请号：US16209429

申请日：2019-02-27

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

IPC: G06K9/00 ,  B60T8/88 ,  B60T7/22 ,  B60T8/00 ,  B60T8/17 ,  G05D1/00 ,  G05D1/02 ,  B60T17/22 ,  G01C21/36 ,  B60W30/08 ,  G01S17/02 ,  G01S17/93 ,  G06T7/73 ,  G06T7/20 ,  G06T7/521 ,  B60R1/00 ,  G06T7/231 ,  G06T7/223 ,  B60T17/18 ,  B62D6/00 ,  G01S13/86 ,  B60W30/186 ,  B60W50/029 ,  G06K9/32

Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.