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公开(公告)号：US10896122B2
公开(公告)日：2021-01-19
申请号：US16879424
申请日：2020-05-20
Applicant: Waymo LLC
Inventor： Carl Nygaard , Yiwen Xu , James Stout
IPC: G06F11/36
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.
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公开(公告)号：US20200050536A1
公开(公告)日：2020-02-13
申请号：US16056865
申请日：2018-08-07
Applicant: Waymo LLC
Inventor： Carl Nygaard , Yiwen Xu , James Stout
IPC: G06F11/36
Abstract: The disclosure relate to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.
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公开(公告)号：US09697606B2
公开(公告)日：2017-07-04
申请号：US14749151
申请日：2015-06-24
Applicant: Waymo LLC
Inventor： James Stout , Jiajun Zhu
CPC classification number: G06T7/521 , G01S17/89 , G01S17/936 , G06K9/00201 , G06K9/00791 , G06K9/00805 , G06T7/70 , G06T2207/10028 , G06T2207/30261
Abstract: Methods and systems for object detection using laser point clouds are described herein. In an example implementation, a computing device may receive laser data indicative of a vehicle's environment from a sensor and generate a two dimensional (2D) range image that includes pixels indicative of respective positions of objects in the environment based on the laser data. The computing device may modify the 2D range image to provide values to given pixels that map to portions of objects in the environment lacking laser data, which may involve providing values to the given pixels based on the average value of neighboring pixels positioned by the given pixels. Additionally, the computing device may determine normal vectors of sets of pixels that correspond to surfaces of objects in the environment based on the modified 2D range image and may use the normal vectors to provide object recognition information to systems of the vehicle.
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公开(公告)号：US11126763B1
公开(公告)日：2021-09-21
申请号：US16108702
申请日：2018-08-22
Applicant: Waymo LLC
Inventor： Aleksandar Gabrovski , Yang-Hua Chu , James Stout
Abstract: The disclosure relate to determining a realism metric for testing software for operating a vehicle in an autonomous driving mode. For instance, a plurality of versions of a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The plurality of versions may be run using the software to control a simulated vehicle, and each of the plurality of versions may have a set of timing requirements different from the set of timing requirements of other of the plurality of versions. Results of the plurality of versions may be compared to the log data. A realism metric defining timing requirements for one or more future simulations may be generated based on the comparison.
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公开(公告)号：US10713148B2
公开(公告)日：2020-07-14
申请号：US16056865
申请日：2018-08-07
Applicant: Waymo LLC
Inventor： Carl Nygaard , Yiwen Xu , James Stout
IPC: G06F11/36
Abstract: The disclosure relate to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.
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Patent Agency Ranking
公开(公告)号：US11989116B1
公开(公告)日：2024-05-21
申请号：US17834389
申请日：2022-06-07
Applicant: Waymo LLC
Inventor： Carl Nygaard , Alexander Ruben Stacey McCarthy , James Stout
IPC: G06F11/36
CPC classification number: G06F11/3664 , G06F11/3684
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run. The simulation may be run using the software to control a simulated vehicle and at least one agent. During the running of the first simulation, whether a particular type of interaction between the simulated vehicle and the at least one agent has occurred may be determined. In response to this determination, a second simulation may be run using the log data by replacing the at least one agent with a model agent that simulates a road user capable of responding to actions performed by the simulated vehicle. The second simulation may be used to determine in order to determine whether the software is able to complete the second simulation without the particular type of interaction between a second simulated vehicle and the model agent occurring.
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公开(公告)号：US11385991B1
公开(公告)日：2022-07-12
申请号：US17007611
申请日：2020-08-31
Applicant: Waymo LLC
Inventor： Carl Nygaard , Alexander Ruben Stacey McCarthy , James Stout
IPC: G06F11/36
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run. The simulation may be run using the software to control a simulated vehicle and at least one agent. During the running of the first simulation, whether a particular type of interaction between the simulated vehicle and the at least one agent has occurred may be determined. In response to this determination, a second simulation may be run using the log data by replacing the at least one agent with a model agent that simulates a road user capable of responding to actions performed by the simulated vehicle. The second simulation may be used to determine in order to determine whether the software is able to complete the second simulation without the particular type of interaction between a second simulated vehicle and the model agent occurring.
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公开(公告)号：US11983972B1
公开(公告)日：2024-05-14
申请号：US17159271
申请日：2021-01-27
Applicant: Waymo LLC
Inventor： Carl Nygaard , James Stout , Jiajun Zhu
CPC classification number: G07C5/0841 , G05D1/0088 , G06F30/20
Abstract: An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle's environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle's environment. The virtual object represents a real object that is not in the vehicle's environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.
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公开(公告)号：US20200349057A1
公开(公告)日：2020-11-05
申请号：US16879424
申请日：2020-05-20
Applicant: Waymo LLC
Inventor： Carl Nygaard , Yiwen Xu , James Stout
IPC: G06F11/36
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.
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公开(公告)号：US10943414B1
公开(公告)日：2021-03-09
申请号：US15797318
申请日：2017-10-30
Applicant: Waymo LLC
Inventor： Carl Nygaard , James Stout , Jiajun Zhu
Abstract: An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle's environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle's environment. The virtual object represents a real object that is not in the vehicle's environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.
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