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公开(公告)号：US20240017726A1
公开(公告)日：2024-01-18
申请号：US17812317
申请日：2022-07-13
Applicant: Waymo LLC
Inventor： Pablo Abad , Karen Rajen Parikh , Kang Li , David Garber , Tony Grue , Khawaja Waqee Khalid
CPC classification number: B60W30/18163 , B60W30/16 , B60W40/04 , B60W60/0011 , B60W60/0015 , G06V20/582 , B60W2300/145 , B60W2420/42 , B60W2530/205 , B60W2554/4041 , B60W2554/406 , B60W2554/80 , B60W2555/60
Abstract: Example embodiments relate to lane adjustment techniques for slow lead agents. A vehicle computing system may use sensor data depicting the surrounding environment to detect when another vehicle is traveling in front of the vehicle at a speed that is less than a threshold minimum speed. If the other vehicle fails to increase speed above the minimum speed, the computing system may determine whether to change lanes to avoid the other vehicle based on speed data for other lanes. In some implementations, the computing system assigns penalties to lane segments surrounding the vehicle based on speed data for the different lane segments. For instance, the path finding system for the vehicle can use penalties and speed data to determine efficient routes that safely circumvent slow agents.
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公开(公告)号：US20250042407A1
公开(公告)日：2025-02-06
申请号：US18923014
申请日：2024-10-22
Applicant: Waymo LLC
Inventor： Pablo Abad , Karan Rajen Parikh , Kang Li , David Garber , Tony Grue , Khawaja Waqee Khalid
Abstract: Example embodiments relate to lane adjustment techniques for slow lead agents. A vehicle computing system may use sensor data depicting the surrounding environment to detect when another vehicle is traveling in front of the vehicle at a speed that is less than a threshold minimum speed. If the other vehicle fails to increase speed above the minimum speed, the computing system may determine whether to change lanes to avoid the other vehicle based on speed data for other lanes. In some implementations, the computing system assigns penalties to lane segments surrounding the vehicle based on speed data for the different lane segments. For instance, the path finding system for the vehicle can use penalties and speed data to determine efficient routes that safely circumvent slow agents.
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3.发明申请公开(公告)号：US20250014357A1
公开(公告)日：2025-01-09
申请号：US18892711
申请日：2024-09-23
Applicant: Waymo LLC
Inventor： Ruichi Yu , Kang Li , Tao Han , Robert Cosgriff , Henrik Kretzschmar
IPC: G06V20/58 , G01S13/931 , G01S17/931 , G06F18/22
Abstract: Aspects of the disclosure relate to controlling a vehicle. For instance, using a camera, a first camera image including a first object may be captured. A first bounding box for the first object and a distance to the first object may be identified. A second camera image including a second object may be captured. A second bounding box for the second image and a distance to the second object may be identified. Whether the first object is the second object may be determined using a plurality of models to compare visual similarity of the two bounding boxes, to compare a three-dimensional location based on the distance to the first object and a three-dimensional location based on the distance to the second object, and to compare results from the first and second models. The vehicle may be controlled in an autonomous driving mode based on a result of the third model.
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Patent Agency Ranking
公开(公告)号：US12162492B2
公开(公告)日：2024-12-10
申请号：US17812317
申请日：2022-07-13
Applicant: Waymo LLC
Inventor： Pablo Abad , Karen Rajen Parikh , Kang Li , David Garber , Tony Grue , Khawaja Waqee Khalid
Abstract: Example embodiments relate to lane adjustment techniques for slow lead agents. A vehicle computing system may use sensor data depicting the surrounding environment to detect when another vehicle is traveling in front of the vehicle at a speed that is less than a threshold minimum speed. If the other vehicle fails to increase speed above the minimum speed, the computing system may determine whether to change lanes to avoid the other vehicle based on speed data for other lanes. In some implementations, the computing system assigns penalties to lane segments surrounding the vehicle based on speed data for the different lane segments. For instance, the path finding system for the vehicle can use penalties and speed data to determine efficient routes that safely circumvent slow agents.
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5.发明授权公开(公告)号：US12136271B2
公开(公告)日：2024-11-05
申请号：US17319194
申请日：2021-05-13
Applicant: WAYMO LLC
Inventor： Ruichi Yu , Kang Li , Tao Han , Robert Cosgriff , Henrik Kretzschmar
IPC: G06V20/58 , G01S13/931 , G01S17/931 , G05D1/00 , G06F18/22
Abstract: Aspects of the disclosure relate to controlling a vehicle. For instance, using a camera, a first camera image including a first object may be captured. A first bounding box for the first object and a distance to the first object may be identified. A second camera image including a second object may be captured. A second bounding box for the second image and a distance to the second object may be identified. Whether the first object is the second object may be determined using a plurality of models to compare visual similarity of the two bounding boxes, to compare a three-dimensional location based on the distance to the first object and a three-dimensional location based on the distance to the second object, and to compare results from the first and second models. The vehicle may be controlled in an autonomous driving mode based on a result of the third model.
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公开(公告)号：US20230038842A1
公开(公告)日：2023-02-09
申请号：US17444338
申请日：2021-08-03
Applicant: Waymo LLC
Inventor： Ruichi Yu , Shiwei Sheng , Kang Li , Xu Chen
Abstract: The described aspects and implementations enable fast and accurate object identification in autonomous vehicle (AV) applications by combining radar data with camera images. In one implementation, disclosed is a method and a system to perform the method that includes obtaining a radar image of a first hypothetical object in an environment of the AV, obtaining a camera image of a second hypothetical object in the environment of the AV, and processing the radar image and the camera image using one or more machine-learning models MLMs to obtain a prediction measure representing a likelihood that the first hypothetical object and the second hypothetical object correspond to a same object in the environment of the AV.
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7.发明申请公开(公告)号：US20220366175A1
公开(公告)日：2022-11-17
申请号：US17319194
申请日：2021-05-13
Applicant: WAYMO LLC
Inventor： Ruichi Yu , Kang Li , Tao Han , Robert Cosgriff , Henrik Kretzschmar
IPC: G06K9/00 , G06K9/62 , G05D1/00 , G05D1/02 , G01S17/931 , G01S13/931
Abstract: Aspects of the disclosure relate to controlling a vehicle. For instance, using a camera, a first camera image including a first object may be captured. A first bounding box for the first object and a distance to the first object may be identified. A second camera image including a second object may be captured. A second bounding box for the second image and a distance to the second object may be identified. Whether the first object is the second object may be determined using a plurality of models to compare visual similarity of the two bounding boxes, to compare a three-dimensional location based on the distance to the first object and a three-dimensional location based on the distance to the second object, and to compare results from the first and second models. The vehicle may be controlled in an autonomous driving mode based on a result of the third model.
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公开(公告)号：US20220180549A1
公开(公告)日：2022-06-09
申请号：US17545987
申请日：2021-12-08
Applicant: Waymo LLC
Inventor： Longlong Jing , Ruichi Yu , Jiyang Gao , Henrik Kretzschmar , Kang Li , Ruizhongtai Qi , Hang Zhao , Alper Ayvaci , Xu Chen , Dillon Cower , Congcong Li
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting three-dimensional object locations from images. One of the methods includes obtaining a sequence of images that comprises, at each of a plurality of time steps, a respective image that was captured by a camera at the time step; generating, for each image in the sequence, respective pseudo-lidar features of a respective pseudo-lidar representation of a region in the image that has been determined to depict a first object; generating, for a particular image at a particular time step in the sequence, image patch features of the region in the particular image that has been determined to depict the first object; and generating, from the respective pseudo-lidar features and the image patch features, a prediction that characterizes a location of the first object in a three-dimensional coordinate system at the particular time step in the sequence.
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