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公开(公告)号：US20190205674A1
公开(公告)日：2019-07-04
申请号：US15857952
申请日：2017-12-29
Applicant: Waymo LLC
Inventor： David Harrison Silver , Pankaj Chaudhari , Carl Kershaw
IPC: G06K9/00 , G05D1/02 , B60W40/105 , G05D1/00
Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.
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公开(公告)号：US10902272B2
公开(公告)日：2021-01-26
申请号：US16879299
申请日：2020-05-20
Applicant: Waymo LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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公开(公告)号：US20190392231A1
公开(公告)日：2019-12-26
申请号：US16018490
申请日：2018-06-26
Applicant: Waymo LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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公开(公告)号：US11562573B2
公开(公告)日：2023-01-24
申请号：US17123185
申请日：2020-12-16
Applicant: WAYMO LLC
Inventor： Victoria Dean , Abhijit S Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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公开(公告)号：US11226626B1
公开(公告)日：2022-01-18
申请号：US16713568
申请日：2019-12-13
Applicant: Waymo LLC
Inventor： David Harrison Silver , Carl Kershaw , Pankaj Chaudhari
Abstract: The technology relates to detecting a person directing traffic. For instance, a first vehicle may be controlled in an autonomous driving mode. Sensor data is received from a perception system of the first vehicle, the sensor data identifying a person. Behavior of the person is observed using the sensor data. The observed behavior of the person and the observed behavior of a second vehicle are used to determine a likelihood value indicative of whether the person is directing traffic. The first vehicle is maneuvered in the autonomous driving mode based on the determined likelihood value.
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Patent Agency Ranking
公开(公告)号：US10699141B2
公开(公告)日：2020-06-30
申请号：US16018490
申请日：2018-06-26
Applicant: Waymo LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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公开(公告)号：US10713940B2
公开(公告)日：2020-07-14
申请号：US15798881
申请日：2017-10-31
Applicant: Waymo LLC
Inventor： David Harrison Silver , Pankaj Chaudhari
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode, the method. For instance, a vehicle may be maneuvered in the autonomous driving mode using pre-stored map information identifying traffic flow directions. Data may be received from a perception system of the vehicle identifying objects in an external environment of the vehicle related to a traffic redirection not identified the map information. The received data may be used to identify one or more corridors of a traffic redirection. One of the one or more corridors may be selected based on a direction of traffic flow through the selected corridor. The vehicle may then be controlled in the autonomous driving mode to enter and follow the selected one of the one or more corridors based on the determined direction of flow of traffic through each of the one or more corridors.
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公开(公告)号：US11887474B2
公开(公告)日：2024-01-30
申请号：US16896845
申请日：2020-06-09
Applicant: Waymo LLC
Inventor： David Harrison Silver , Pankaj Chaudhari
CPC classification number: G08G1/0145 , G05D1/0088 , G05D1/0214 , G06V20/58 , G06V20/588 , G06T2207/30236 , G06T2207/30256
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode, the method. For instance, a vehicle may be maneuvered in the autonomous driving mode using pre-stored map information identifying traffic flow directions. Data may be received from a perception system of the vehicle identifying objects in an external environment of the vehicle related to a traffic redirection not identified the map information. The received data may be used to identify one or more corridors of a traffic redirection. One of the one or more corridors may be selected based on a direction of traffic flow through the selected corridor. The vehicle may then be controlled in the autonomous driving mode to enter and follow the selected one of the one or more corridors based on the determined direction of flow of traffic through each of the one or more corridors.
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公开(公告)号：US11594044B2
公开(公告)日：2023-02-28
申请号：US16897359
申请日：2020-06-10
Applicant: Waymo LLC
Inventor： David Harrison Silver , Pankaj Chaudhari , Carl Kershaw
IPC: G06F17/00 , G06V20/58 , G05D1/02 , B60W40/105 , G05D1/00
Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.
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公开(公告)号：US20210192238A1
公开(公告)日：2021-06-24
申请号：US17123185
申请日：2020-12-16
Applicant: WAYMO LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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