公开(公告)号：US11022452B2

公开(公告)日：2021-06-01

申请号：US15985144

申请日：2018-05-21

Applicant: Waymo LLC

Inventor： John Wesley Dyer ,  Leonid Yeykelis ,  Michael Epstein ,  Salil Pandit

IPC: G01C21/34 ,  G06K9/00 ,  G06T7/20 ,  G06T7/70 ,  G06F16/29

Abstract: Aspects of the disclosure relate to generating map data. For instance, data generated by a perception system of a vehicle may be received. This data corresponds to a plurality of observations including observed positions of a passenger of the vehicle as the passenger approached the vehicle at a first location. The data may be used to determine an observed distance traveled by a passenger to reach a vehicle. A road edge distance between an observed position of an observation of the plurality of observations and a nearest road edge to the observed position may be determined. An inconvenience value for the first location may be determined using the observed distance and the road edge distance. The map data is then generated using the inconvenience value.

公开(公告)号：US20230349718A1

公开(公告)日：2023-11-02

申请号：US18219195

申请日：2023-07-07

Applicant: Waymo LLC

Inventor： John Wesley Dyer ,  Leonid Yeykelis ,  Michael Epstein ,  Salil Pandit

IPC: G01C21/00 ,  G01C21/34 ,  G06T7/20 ,  G06T7/70 ,  G06F16/29 ,  G06V20/56 ,  G06V40/10

CPC classification number: G01C21/3819 ,  G01C21/3484 ,  G06T7/20 ,  G06T7/70 ,  G06F16/29 ,  G06V20/588 ,  G06V40/103

Abstract: Aspects of the disclosure relate to generating map data. For instance, data generated by a perception system of a vehicle may be received. This data corresponds to a plurality of observations including observed positions of a passenger of the vehicle as the passenger approached the vehicle at a first location. The data may be used to determine an observed distance traveled by a passenger to reach a vehicle. A road edge distance between an observed position of an observation of the plurality of observations and a nearest road edge to the observed position may be determined. An inconvenience value for the first location may be determined using the observed distance and the road edge distance. The map data is then generated using the inconvenience value.

公开(公告)号：US11747165B2

公开(公告)日：2023-09-05

申请号：US17234002

申请日：2021-04-19

Applicant: Waymo LLC

Inventor： John Wesley Dyer ,  Leonid Yeykelis ,  Michael Epstein ,  Salil Pandit

IPC: G01C21/00 ,  G01C21/34 ,  G06T7/20 ,  G06T7/70 ,  G06F16/29 ,  G06V20/56 ,  G06V40/10

CPC classification number: G01C21/3819 ,  G01C21/3484 ,  G06F16/29 ,  G06T7/20 ,  G06T7/70 ,  G06V20/588 ,  G06V40/103

Abstract: Aspects of the disclosure relate to generating map data. For instance, data generated by a perception system of a vehicle may be received. This data corresponds to a plurality of observations including observed positions of a passenger of the vehicle as the passenger approached the vehicle at a first location. The data may be used to determine an observed distance traveled by a passenger to reach a vehicle. A road edge distance between an observed position of an observation of the plurality of observations and a nearest road edge to the observed position may be determined. An inconvenience value for the first location may be determined using the observed distance and the road edge distance. The map data is then generated using the inconvenience value.

公开(公告)号：US20210278230A1

公开(公告)日：2021-09-09

申请号：US17234002

申请日：2021-04-19

Applicant: Waymo LLC

Inventor： John Wesley Dyer ,  Leonid Yeykelis ,  Michael Epstein ,  Salil Pandit

IPC: G01C21/34 ,  G06K9/00 ,  G06T7/20 ,  G06T7/70 ,  G06F16/29

Abstract: Aspects of the disclosure relate to generating map data. For instance, data generated by a perception system of a vehicle may be received. This data corresponds to a plurality of observations including observed positions of a passenger of the vehicle as the passenger approached the vehicle at a first location. The data may be used to determine an observed distance traveled by a passenger to reach a vehicle. A road edge distance between an observed position of an observation of the plurality of observations and a nearest road edge to the observed position may be determined. An inconvenience value for the first location may be determined using the observed distance and the road edge distance. The map data is then generated using the inconvenience value.

公开(公告)号：US20190353495A1

公开(公告)日：2019-11-21

申请号：US15985144

申请日：2018-05-21

Applicant: Waymo LLC

Inventor： John Wesley Dyer ,  Leonid Yeykelis ,  Michael Epstein ,  Salil Pandit

IPC: G01C21/34 ,  G06K9/00 ,  G06T7/20 ,  G06T7/70 ,  G06F17/30

Abstract: Aspects of the disclosure relate to generating map data. For instance, data generated by a perception system of a vehicle may be received. This data corresponds to a plurality of observations including observed positions of a passenger of the vehicle as the passenger approached the vehicle at a first location. The data may be used to determine an observed distance traveled by a passenger to reach a vehicle. A road edge distance between an observed position of an observation of the plurality of observations and a nearest road edge to the observed position may be determined. An inconvenience value for the first location may be determined using the observed distance and the road edge distance. The map data is then generated using the inconvenience value.