公开(公告)号：US11645852B2

公开(公告)日：2023-05-09

申请号：US17336856

申请日：2021-06-02

Applicant: Waymo LLC

Inventor： Maxim Krivokon ,  Abhijit S. Ogale ,  Edward Hsiao ,  Andreas Wendel

IPC: G08G1/16 ,  G05D1/00 ,  G06V20/58 ,  G06V30/194 ,  G08G1/01 ,  G08G1/04 ,  G08G1/095 ,  G06V20/56

CPC classification number: G08G1/167 ,  G05D1/0088 ,  G06V20/584 ,  G06V20/588 ,  G06V30/194 ,  G08G1/0129 ,  G08G1/0145 ,  G08G1/04 ,  G08G1/095 ,  G08G1/166

Abstract: Methods and system are provided for training and using a model to determine states of lanes of interest. For instance, image data including an image and an associated label identifying at least one traffic light, a state of the at least one traffic light, and a lane controlled by the at least one traffic light are received and used to train the model such that the model is configured to, in response to receiving an image and a lane of interest included in the image, output a lane state for the lane of interest. This model is then used by a vehicle in order to determine a state of a lane of interest. This state is then used to control the vehicle in an autonomous driving mode based on the state of the lane of interest.

公开(公告)号：US20210343150A1

公开(公告)日：2021-11-04

申请号：US17336856

申请日：2021-06-02

Applicant: Waymo LLC

Inventor： Maxim Krivokon ,  Abhijit S. Ogale ,  Edward Hsiao ,  Andreas Wendel

IPC: G08G1/16 ,  G05D1/00 ,  G06K9/00 ,  G06K9/66 ,  G08G1/01 ,  G08G1/04 ,  G08G1/095

Abstract: Methods and system are provided for training and using a model to determine states of lanes of interest. For instance, image data including an image and an associated label identifying at least one traffic light, a state of the at least one traffic light, and a lane controlled by the at least one traffic light are received and used to train the model such that the model is configured to, in response to receiving an image and a lane of interest included in the image, output a lane state for the lane of interest. This model is then used by a vehicle in order to determine a state of a lane of interest. This state is then used to control the vehicle in an autonomous driving mode based on the state of the lane of interest.

公开(公告)号：US11056005B2

公开(公告)日：2021-07-06

申请号：US16169080

申请日：2018-10-24

Applicant: Waymo LLC

Inventor： Maxim Krivokon ,  Abhijit S. Ogale ,  Edward Hsiao ,  Andreas Wendel

IPC: G06G1/16 ,  G05D1/00 ,  G06K9/00 ,  G06K9/66 ,  G08G1/01 ,  G08G1/04 ,  G08G1/095 ,  G08G1/16

Abstract: Methods and system are provided for training and using a model to determine states of lanes of interest. For instance, image data including an image and an associated label identifying at least one traffic light, a state of the at least one traffic light, and a lane controlled by the at least one traffic light are received and used to train the model such that the model is configured to, in response to receiving an image and a lane of interest included in the image, output a lane state for the lane of interest. This model is then used by a vehicle in order to determine a state of a lane of interest. This state is then used to control the vehicle in an autonomous driving mode based on the state of the lane of interest.