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公开(公告)号：US20250028322A1
公开(公告)日：2025-01-23
申请号：US18909493
申请日：2024-10-08
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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公开(公告)号：US20230288941A1
公开(公告)日：2023-09-14
申请号：US18200243
申请日：2023-05-22
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
CPC classification number: G05D1/0248 , G05D1/0088 , G05D1/0257 , B60W10/20 , B60W10/04 , B60W30/18145 , G05D1/0276 , H04Q9/00 , G05D1/0291 , G05D2201/0213 , B60W2420/52 , B60W2420/42 , B60W2710/20 , B60W2720/106 , B60R11/04
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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公开(公告)号：US20200183008A1
公开(公告)日：2020-06-11
申请号：US16214838
申请日：2018-12-10
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Christian Lauterbach , Benjamin Pitzer , Peter Morton
Abstract: The technology relates to autonomous vehicles having articulating sections such as the trailer of a tractor-trailer. Aspects include approaches for tracking the pose of the trailer, including its orientation relative to the tractor unit. Sensor data is analyzed from one or more onboard sensors to identify and track the pose. The pose information is usable by on-board perception and/or planning systems when driving the vehicle in an autonomous mode. By way of example, on-board sensors such as Lidar sensors are used to detect the real-time pose of the trailer based on Lidar point cloud data. The orientation of the trailer is estimated based on the point cloud data, and the pose is determined according to the orientation and other information about the trailer. Aspects also include determining which side of the trailer the sensor data is coming from. A camera may also detect trailer marking information to supplement the analysis.
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公开(公告)号：US11693423B2
公开(公告)日：2023-07-04
申请号：US16225745
申请日：2018-12-19
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
CPC classification number: G05D1/0248 , B60W10/04 , B60W10/20 , B60W30/18145 , G05D1/0088 , G05D1/0257 , G05D1/0276 , H04Q9/00 , B60R11/04 , B60R2011/004 , B60W2420/42 , B60W2420/52 , B60W2554/00 , B60W2710/20 , B60W2720/106 , G05D1/0291 , G05D2201/0213
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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Patent Agency Ranking
公开(公告)号：US12140962B2
公开(公告)日：2024-11-12
申请号：US18200243
申请日：2023-05-22
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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公开(公告)号：US10699167B1
公开(公告)日：2020-06-30
申请号：US16165468
申请日：2018-10-19
Applicant: Waymo LLC
Inventor： Jonathan Baldwin Dowdall , Nafees Ahmed , Lo Po Tsui , Peter Morton
IPC: G06K9/62 , G06K9/00 , G06F3/0484 , G06F3/0481
Abstract: Aspects of the disclosure relate to generating a grid or a visual list to facilitate operator review of labels. The system receives a first set of labels generated by a first labeling source and a second set of labels generated by a second labeling source. The first set of labels and the second set of labels each classify one or more objects perceived in one or more scenes captured by a sensor of a vehicle, such that each of the one or more objects has a corresponding first label and a corresponding second label. The system determines discrepancies between the corresponding first label and the corresponding second label for each of the one or more objects, and generates a grid or a visual list using the determined discrepancies. The system provides the grid or the visual list for display to a human operator.
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公开(公告)号：US20210382174A1
公开(公告)日：2021-12-09
申请号：US17411120
申请日：2021-08-25
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Christian Lauterbach , Benjamin Pitzer , Peter Morton
Abstract: The technology relates to autonomous vehicles having articulating sections such as the trailer of a tractor-trailer. Aspects include approaches for tracking the pose of the trailer, including its orientation relative to the tractor unit. Sensor data is analyzed from one or more onboard sensors to identify and track the pose. The pose information is usable by on-board perception and/or planning systems when driving the vehicle in an autonomous mode. By way of example, on-board sensors such as Lidar sensors are used to detect the real-time pose of the trailer based on Lidar point cloud data. The orientation of the trailer is estimated based on the point cloud data, and the pose is determined according to the orientation and other information about the trailer. Aspects also include determining which side of the trailer the sensor data is coming from. A camera may also detect trailer marking information to supplement the analysis.
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公开(公告)号：US11125881B2
公开(公告)日：2021-09-21
申请号：US16214838
申请日：2018-12-10
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Christian Lauterbach , Benjamin Pitzer , Peter Morton
Abstract: The technology relates to autonomous vehicles having articulating sections such as the trailer of a tractor-trailer. Aspects include approaches for tracking the pose of the trailer, including its orientation relative to the tractor unit. Sensor data is analyzed from one or more onboard sensors to identify and track the pose. The pose information is usable by on-board perception and/or planning systems when driving the vehicle in an autonomous mode. By way of example, on-board sensors such as Lidar sensors are used to detect the real-time pose of the trailer based on Lidar point cloud data. The orientation of the trailer is estimated based on the point cloud data, and the pose is determined according to the orientation and other information about the trailer. Aspects also include determining which side of the trailer the sensor data is coming from. A camera may also detect trailer marking information to supplement the analysis.
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公开(公告)号：US20210109523A1
公开(公告)日：2021-04-15
申请号：US16598060
申请日：2019-10-10
Applicant: Waymo LLC
Inventor： Ming Zou , Christian Lauterbach , Peter Morton
Abstract: The technology relates to operation of a vehicle in a self-driving mode by determining the presence of occlusions in the environment around the vehicle. Raw sensor data for one or more sensors is received and a range image for each sensor based is computed based on the received data. The range image data may be corrected in view of obtained perception information from other sensors, heuristic analysis and/or a learning-based approach to fill gaps in the data or to filter out noise. The corrected data may be compressed prior to packaging into a format for consumption by onboard and offboard systems. These systems can obtain and evaluate the corrected data for use in real time and non-real time situations, such as performing driving operations, planning an upcoming route, testing driving scenarios, etc.
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