公开(公告)号：US20240075961A1

公开(公告)日：2024-03-07

申请号：US18507227

申请日：2023-11-13

Applicant: Waymo LLC

Inventor： Peter Lombrozo ,  Eric Teller ,  Bradley Templeton

IPC: B60W60/00 ,  B60W30/09 ,  B60W30/18 ,  B60W40/00 ,  G01C21/26 ,  G01C21/30 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88 ,  G06V20/58

CPC classification number: B60W60/0027 ,  B60W30/09 ,  B60W30/18159 ,  B60W40/00 ,  B60W60/0017 ,  G01C21/26 ,  G01C21/30 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88 ,  G06V20/584 ,  B60W2050/0075 ,  B60W2554/00

Abstract: A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.

公开(公告)号：US11427189B2

公开(公告)日：2022-08-30

申请号：US16543018

申请日：2019-08-16

Applicant: Waymo LLC

Inventor： Eric Teller ,  Peter Lombrozo

IPC: B60W30/08 ,  G05D1/00 ,  B60W30/00

Abstract: An autonomous vehicle configured for active sensing may also be configured to weigh expected information gains from active-sensing actions against risk costs associated with the active-sensing actions. An example method involves: (a) receiving information from one or more sensors of an autonomous vehicle, (b) determining a risk-cost framework that indicates risk costs across a range of degrees to which an active-sensing action can be performed, wherein the active-sensing action comprises an action that is performable by the autonomous vehicle to potentially improve the information upon which at least one of the control processes for the autonomous vehicle is based, (c) determining an information-improvement expectation framework across the range of degrees to which the active-sensing action can be performed, and (d) applying the risk-cost framework and the information-improvement expectation framework to determine a degree to which the active-sensing action should be performed.

公开(公告)号：US10427672B2

公开(公告)日：2019-10-01

申请号：US15603265

申请日：2017-05-23

Applicant: Waymo LLC

Inventor： Eric Teller ,  Peter Lombrozo

IPC: B60W30/00 ,  B60W30/08 ,  G05D1/00

Abstract: An autonomous vehicle configured for active sensing may also be configured to weigh expected information gains from active-sensing actions against risk costs associated with the active-sensing actions. An example method involves: (a) receiving information from one or more sensors of an autonomous vehicle, (b) determining a risk-cost framework that indicates risk costs across a range of degrees to which an active-sensing action can be performed, wherein the active-sensing action comprises an action that is performable by the autonomous vehicle to potentially improve the information upon which at least one of the control processes for the autonomous vehicle is based, (c) determining an information-improvement expectation framework across the range of degrees to which the active-sensing action can be performed, and (d) applying the risk-cost framework and the information-improvement expectation framework to determine a degree to which the active-sensing action should be performed.

公开(公告)号：US12187268B2

公开(公告)日：2025-01-07

申请号：US17898009

申请日：2022-08-29

Applicant: Waymo LLC

Inventor： Eric Teller ,  Peter Lombrozo

IPC: B60W30/08 ,  B60W30/00 ,  B60W30/18 ,  B60W60/00 ,  B60K35/28

Abstract: An autonomous vehicle configured for active sensing may also be configured to weigh expected information gains from active-sensing actions against risk costs associated with the active-sensing actions. An example method involves: (a) receiving information from one or more sensors of an autonomous vehicle, (b) determining a risk-cost framework that indicates risk costs across a range of degrees to which an active-sensing action can be performed, wherein the active-sensing action comprises an action that is performable by the autonomous vehicle to potentially improve the information upon which at least one of the control processes for the autonomous vehicle is based, (c) determining an information-improvement expectation framework across the range of degrees to which the active-sensing action can be performed, and (d) applying the risk-cost framework and the information-improvement expectation framework to determine a degree to which the active-sensing action should be performed.

公开(公告)号：US20210018920A1

公开(公告)日：2021-01-21

申请号：US17063331

申请日：2020-10-05

Applicant: Waymo LLC

Inventor： Peter Lombrozo ,  Eric Teller ,  Bradley Templeton

IPC: G05D1/00 ,  B60W30/12 ,  B60W30/16 ,  G06K9/00 ,  G01C21/26 ,  G01C21/30 ,  B60W40/00 ,  B60W30/09 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88

Abstract: A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.

公开(公告)号：US10831196B2

公开(公告)日：2020-11-10

申请号：US16415697

申请日：2019-05-17

Applicant: Waymo LLC

Inventor： Peter Lombrozo ,  Eric Teller ,  Bradley Templeton

IPC: G05D1/00 ,  B60W30/12 ,  B60W30/16 ,  G06K9/00 ,  G01C21/26 ,  G01C21/30 ,  B60W40/00 ,  B60W30/09 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88 ,  B60W50/00

Abstract: A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.

公开(公告)号：US20170320491A1

公开(公告)日：2017-11-09

申请号：US15603265

申请日：2017-05-23

Applicant: Waymo LLC

Inventor： Eric Teller ,  Peter Lombrozo

IPC: B60W30/08 ,  G05D1/00 ,  B60W30/00

CPC classification number: B60W30/08 ,  B60K2370/175 ,  B60W30/00 ,  B60W2420/10 ,  B60W2420/42 ,  B60W2420/50 ,  B60W2420/52 ,  B60W2420/62 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/16 ,  B60W2520/18 ,  B60W2540/12 ,  B60W2540/14 ,  B60W2550/10 ,  B60W2550/20 ,  B60W2550/402 ,  B60W2900/00 ,  G05D1/0088 ,  G05D2201/0213

Abstract: An autonomous vehicle configured for active sensing may also be configured to weigh expected information gains from active-sensing actions against risk costs associated with the active-sensing actions. An example method involves: (a) receiving information from one or more sensors of an autonomous vehicle, (b) determining a risk-cost framework that indicates risk costs across a range of degrees to which an active-sensing action can be performed, wherein the active-sensing action comprises an action that is performable by the autonomous vehicle to potentially improve the information upon which at least one of the control processes for the autonomous vehicle is based, (c) determining an information-improvement expectation framework across the range of degrees to which the active-sensing action can be performed, and (d) applying the risk-cost framework and the information-improvement expectation framework to determine a degree to which the active-sensing action should be performed.

公开(公告)号：US09804601B2

公开(公告)日：2017-10-31

申请号：US15087390

申请日：2016-03-31

Applicant: Waymo LLC

Inventor： Peter Lombrozo ,  Eric Teller ,  Bradley Templeton

IPC: B60W40/00 ,  B60W30/00 ,  G05D1/00 ,  B60W30/12 ,  B60W30/16 ,  G06K9/00 ,  B60W30/09 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88 ,  B60W50/00

CPC classification number: G05D1/0088 ,  B60W30/09 ,  B60W30/12 ,  B60W30/16 ,  B60W40/00 ,  B60W2050/0089 ,  B60W2550/10 ,  G01C21/26 ,  G01C21/30 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88 ,  G06K9/00825

Abstract: A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.

公开(公告)号：US20230004159A1

公开(公告)日：2023-01-05

申请号：US17941142

申请日：2022-09-09

Applicant: Waymo LLC

Inventor： Peter Lombrozo ,  Eric Teller ,  Bradley Templeton

IPC: G05D1/00 ,  B60W30/12 ,  B60W30/16 ,  G01C21/26 ,  G01C21/30 ,  G06V20/58 ,  B60W40/00 ,  B60W30/09 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88

Abstract: A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.

公开(公告)号：US11474520B2

公开(公告)日：2022-10-18

申请号：US17063331

申请日：2020-10-05

Applicant: Waymo LLC

Inventor： Peter Lombrozo ,  Eric Teller ,  Bradley Templeton

IPC: G05D1/00 ,  B60W30/12 ,  B60W30/16 ,  G01C21/26 ,  G01C21/30 ,  G06V20/58 ,  B60W40/00 ,  B60W30/09 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88 ,  B60W50/00

Abstract: A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.