公开(公告)号：US20240075959A1

公开(公告)日：2024-03-07

申请号：US18504729

申请日：2023-11-08

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Maoqing Yao ,  David Margines ,  Yosuke Higashi

IPC: B60W60/00 ,  G05D1/00 ,  G08G1/095

CPC classification number: B60W60/0025 ,  G05D1/0088 ,  G08G1/095 ,  B60W2552/00

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, a current state of a traffic light may be determined. One of a plurality of yellow light durations may be selected based on the current state of the traffic light. When the traffic light will turn red may be predicted based on the selected one. The prediction may be used to control the vehicle in the autonomous driving mode.

公开(公告)号：US11783596B2

公开(公告)日：2023-10-10

申请号：US17738339

申请日：2022-05-06

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Yu Ouyang ,  Maoqing Yao

IPC: G06K9/00 ,  G06V20/58 ,  G06T7/73 ,  G06V10/56 ,  G06V20/56 ,  G06N3/049 ,  G06N3/045

CPC classification number: G06V20/584 ,  G06N3/045 ,  G06N3/049 ,  G06T7/75 ,  G06V10/56 ,  G06V20/588 ,  G06T2207/20084 ,  G06T2207/20132

Abstract: Machine-learning models are described detecting the signaling state of a traffic signaling unit. A system can obtain an image of the traffic signaling unit, and select a model of the traffic signaling unit that identifies a position of each traffic lighting element on the unit. First and second neural network inputs are processed with a neural network to generate an estimated signaling state of the traffic signaling unit. The first neural network input can represent the image of the traffic signaling unit, and the second neural network input can represent the model of the traffic signaling unit. Using the estimated signaling state of the traffic signaling unit, the system can inform a driving decision of a vehicle.

公开(公告)号：US20220335731A1

公开(公告)日：2022-10-20

申请号：US17738339

申请日：2022-05-06

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Yu Ouyang ,  Maoqing Yao

IPC: G06V20/58 ,  G06T7/73 ,  G06V10/56 ,  G06V20/56 ,  G06N3/04

Abstract: Machine-learning models are described detecting the signaling state of a traffic signaling unit. A system can obtain an image of the traffic signaling unit, and select a model of the traffic signaling unit that identifies a position of each traffic lighting element on the unit. First and second neural network inputs are processed with a neural network to generate an estimated signaling state of the traffic signaling unit. The first neural network input can represent the image of the traffic signaling unit, and the second neural network input can represent the model of the traffic signaling unit. Using the estimated signaling state of the traffic signaling unit, the system can inform a driving decision of a vehicle.

公开(公告)号：US20220027645A1

公开(公告)日：2022-01-27

申请号：US16936739

申请日：2020-07-23

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Yu Ouyang ,  Maoqing Yao

IPC: G06K9/00 ,  G06K9/46 ,  G06T7/73 ,  G06N3/04

Abstract: Machine-learning models are described detecting the signaling state of a traffic signaling unit. A system can obtain an image of the traffic signaling unit, and select a model of the traffic signaling unit that identifies a position of each traffic lighting element on the unit. First and second neural network inputs are processed with a neural network to generate an estimated signaling state of the traffic signaling unit. The first neural network input can represent the image of the traffic signaling unit, and the second neural network input can represent the model of the traffic signaling unit. Using the estimated signaling state of the traffic signaling unit, the system can inform a driving decision of a vehicle.

公开(公告)号：US11845469B2

公开(公告)日：2023-12-19

申请号：US16915253

申请日：2020-06-29

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Maoqing Yao ,  David Margines ,  Yosuke Higashi

IPC: B60W60/00 ,  G05D1/00 ,  G08G1/095

CPC classification number: B60W60/0025 ,  G05D1/0088 ,  G08G1/095 ,  B60W2552/00

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, a current state of a traffic light may be determined. One of a plurality of yellow light durations may be selected based on the current state of the traffic light. When the traffic light will turn red may be predicted based on the selected one. The prediction may be used to control the vehicle in the autonomous driving mode.

公开(公告)号：US11328519B2

公开(公告)日：2022-05-10

申请号：US16936739

申请日：2020-07-23

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Yu Ouyang ,  Maoqing Yao

IPC: G06K9/00 ,  G06V20/58 ,  G06N3/04 ,  G06T7/73 ,  G06V10/56 ,  G06V20/56

Abstract: Machine-learning models are described detecting the signaling state of a traffic signaling unit. A system can obtain an image of the traffic signaling unit, and select a model of the traffic signaling unit that identifies a position of each traffic lighting element on the unit. First and second neural network inputs are processed with a neural network to generate an estimated signaling state of the traffic signaling unit. The first neural network input can represent the image of the traffic signaling unit, and the second neural network input can represent the model of the traffic signaling unit. Using the estimated signaling state of the traffic signaling unit, the system can inform a driving decision of a vehicle.

公开(公告)号：US20210403047A1

公开(公告)日：2021-12-30

申请号：US16915253

申请日：2020-06-29

Applicant: Waymo LLC

Inventor： Edward Hsiao ,  Maoqing Yao ,  David Margines ,  Yosuke Higashi

IPC: B60W60/00 ,  G08G1/095 ,  G05D1/00

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, a current state of a traffic light may be determined. One of a plurality of yellow light durations may be selected based on the current state of the traffic light. When the traffic light will turn red may be predicted based on the selected one. The prediction may be used to control the vehicle in the autonomous driving mode.