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公开(公告)号：US12071156B2
公开(公告)日：2024-08-27
申请号：US17036926
申请日：2020-09-29
Applicant: Waymo LLC
Inventor： Michael Buchanan , Aleksandar Rumenov Gabrovski , Colin Andrew Braley , David Yonchar Margines
CPC classification number: B60W60/001 , B60W30/0956 , B60W30/18163 , G05D1/0214 , G05D1/0246 , G06V20/58 , B60W2420/403 , B60W2554/4026 , B60W2554/4029 , G06V20/64
Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.
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公开(公告)号：US20220097726A1
公开(公告)日：2022-03-31
申请号：US17036926
申请日：2020-09-29
Applicant: Waymo LLC
Inventor： Michael Buchanan , Aleksandar Rumenov Gabrovski , Colin Andrew Braley , David Yonchar Margines
IPC: B60W60/00 , G05D1/02 , B60W30/095 , B60W30/18 , G06K9/00
Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.
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公开(公告)号：US20240383499A1
公开(公告)日：2024-11-21
申请号：US18780296
申请日：2024-07-22
Applicant: Waymo LLC
Inventor： Michael Buchanan , Aleksandar Rumenov Gabrovski , Colin Andrew Braley , David Yonchar Margines
IPC: B60W60/00 , B60W30/095 , B60W30/18 , G06V20/58 , G06V20/64
Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.
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