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公开(公告)号：US11541903B2
公开(公告)日：2023-01-03
申请号：US16892138
申请日：2020-06-03
Applicant: Waymo LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate a prediction for a state of an environment. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises an uncertainty measure; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more particular surfels corresponding to respective locations of the obtained sensor data; and combining the surfel data and the sensor data to generate a respective object prediction for each of the one or more locations of the obtained sensor data.
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公开(公告)号：US20210380125A1
公开(公告)日：2021-12-09
申请号：US16892138
申请日：2020-06-03
Applicant: Waymo LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate a prediction for a state of an environment. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises an uncertainty measure; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more particular surfels corresponding to respective locations of the obtained sensor data; and combining the surfel data and the sensor data to generate a respective object prediction for each of the one or more locations of the obtained sensor data.
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公开(公告)号：US20200025577A1
公开(公告)日：2020-01-23
申请号：US16042184
申请日：2018-07-23
Applicant: Waymo LLC
Inventor： Michael Steven Montemerlo , Ming Ji , Peter Pawlowski
Abstract: Aspects of the disclosure relate to validating map data using challenge questions. For instance, an attributes to be validated may be identified from the map data. At least one challenge question may be selected from a plurality of predetermined challenge questions based on the attribute. An image may be retrieved based on image information associated with the at least one challenge question. The image and the at least one challenge question may be provided for display. In response to the providing, operator input identifying an answer to the at least one challenge question may be received. This answer may be then used to validate the attribute.
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公开(公告)号：US20240169290A1
公开(公告)日：2024-05-23
申请号：US18536372
申请日：2023-12-12
Applicant: Waymo LLC
Inventor： David Margines , Tacettin Guney , Saksiri Tanphaichitr , Jeffrey Min , Laurens Feenstra , Peter Pawlowski , Dirk Haehnel
CPC classification number: G06Q10/06312 , G06Q10/02 , G06Q10/06315 , G06Q50/40 , G08G1/202 , H04W4/021 , H04W4/40
Abstract: Aspects of the technology relate to providing service area maps for an autonomous vehicle transportation service having a fleet of vehicles. For instance, each vehicle of the fleet is associated with a polygon corresponding to a service area for that vehicle. A first location may be received from a client computing device, and a set of vehicles of the fleet of vehicles that are currently available to provide transportation services may be identified based on the first location. The polygons associated with each of the set of vehicles may be used to determine a first polygon having a geographic area. A first portion of map information corresponding to the geographic area of the first polygon may be identified, and the first portion may be provided to the client computing device for display to a user such that the portion represents a currently available service area for the user.
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公开(公告)号：US11699274B2
公开(公告)日：2023-07-11
申请号：US17064339
申请日：2020-10-06
Applicant: Waymo LLC
Inventor： David Yonchar Margines , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , Colin Andrew Braley
CPC classification number: G06V10/25 , B60W60/001 , G06T7/90 , G06V10/751 , G06V20/58 , B60W2420/42 , B60W2420/52 , B60W2554/802 , G06T2207/30261
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate long range localization. One of the methods includes obtaining, for a particular location of a vehicle having a camera and a detection sensor, surfel data including a plurality of surfels. Each surfel in the surfel data has a respective location and corresponds to a different respective detected surface in an environment. Image data captured by the camera is obtained. It is determined that a region of interest for detecting objects for a vehicle planning process is outside a detectable region for the detection sensor. In response, it is determined that the image data for the region of interest matches surfel color data for the surfels corresponding to the region of interest. In response, the vehicle planning process is performed with the region of interest designated as having no unexpected objects.
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Patent Agency Ranking
公开(公告)号：US20220063662A1
公开(公告)日：2022-03-03
申请号：US17003827
申请日：2020-08-26
Applicant: Waymo LLC
Inventor： Christoph Sprunk , David Harrison Silver , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , David Yonchar Margines
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for autonomous driving with surfel maps. In some implementations, a three-dimensional representation of a real-world environment is obtained. Each of the surfels can correspond to a respective point of plurality of points in a three-dimensional space of the real-world environment. Input sensor data is received from multiple sensors installed on the autonomous vehicle. A pedestrian is detected from the input sensor data. A determination is made that the pedestrian is located behind a barrier. A driving plan is updated based on determining that the pedestrian is located behind a barrier.
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公开(公告)号：US11893524B2
公开(公告)日：2024-02-06
申请号：US18112047
申请日：2023-02-21
Applicant: Waymo LLC
Inventor： David Margines , Tacettin Guney , Saksiri Tanphaichitr , Jeffrey Min , Laurens Feenstra , Peter Pawlowski , Dirk Haehnel
CPC classification number: G06Q10/06312 , G06Q10/02 , G06Q10/06315 , G06Q50/30 , G08G1/202 , H04W4/021 , H04W4/40
Abstract: Aspects of the technology relate to providing service area maps for an autonomous vehicle transportation service having a fleet of vehicles. For instance, each vehicle of the fleet is associated with a polygon corresponding to a service area for that vehicle. A first location may be received from a client computing device, and a set of vehicles of the fleet of vehicles that are currently available to provide transportation services may be identified based on the first location. The polygons associated with each of the set of vehicles may be used to determine a first polygon having a geographic area. A first portion of map information corresponding to the geographic area of the first polygon may be identified, and the first portion may be provided to the client computing device for display to a user such that the portion represents a currently available service area for the user.
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公开(公告)号：US20230298301A1
公开(公告)日：2023-09-21
申请号：US18201546
申请日：2023-05-24
Applicant: Waymo LLC
Inventor： David Yonchar Margines , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , Colin Andrew Braley
CPC classification number: G06V10/25 , G06T7/90 , B60W60/001 , G06V20/58 , G06V10/751 , B60W2420/42 , G06T2207/30261 , B60W2554/802 , B60W2420/52
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate long range localization. One of the methods includes obtaining, for a particular location of a vehicle having a camera and a detection sensor, surfel data including a plurality of surfels. Each surfel in the surfel data has a respective location and corresponds to a different respective detected surface in an environment. Image data captured by the camera is obtained. It is determined that a region of interest for detecting objects for a vehicle planning process is outside a detectable region for the detection sensor. In response, it is determined that the image data for the region of interest matches surfel color data for the surfels corresponding to the region of interest. In response, the vehicle planning process is performed with the region of interest designated as having no unexpected objects.
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公开(公告)号：US20230281866A1
公开(公告)日：2023-09-07
申请号：US18091901
申请日：2022-12-30
Applicant: Waymo LLC
IPC: G06T7/73 , B60W60/00 , G06T17/20 , G06T15/08 , G06T17/05 , G06V20/56 , G06F18/2415 , G06V30/18 , G06V10/80 , G06V20/58
CPC classification number: G06T7/74 , B60W60/001 , G06T17/20 , G06T15/08 , G06T17/05 , G06V20/56 , G06F18/24155 , G06V30/18143 , G06V10/806 , G06V20/58
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate a prediction for a state of an environment. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises an uncertainty measure; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more particular surfels corresponding to respective locations of the obtained sensor data; and combining the surfel data and the sensor data to generate a respective object prediction for each of the one or more locations of the obtained sensor data.
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公开(公告)号：US20230196232A1
公开(公告)日：2023-06-22
申请号：US18112047
申请日：2023-02-21
Applicant: Waymo LLC
Inventor： David Margines , Tacettin Guney , Saksiri Tanphaichitr , Jeffrey Min , Laurens Feenstra , Peter Pawlowski , Dirk Haehnel
CPC classification number: G06Q10/06312 , G06Q10/02 , G06Q10/06315 , G06Q50/30 , G08G1/202 , H04W4/021 , H04W4/40
Abstract: Aspects of the technology relate to providing service area maps for an autonomous vehicle transportation service having a fleet of vehicles. For instance, each vehicle of the fleet is associated with a polygon corresponding to a service area for that vehicle. A first location may be received from a client computing device, and a set of vehicles of the fleet of vehicles that are currently available to provide transportation services may be identified based on the first location. The polygons associated with each of the set of vehicles may be used to determine a first polygon having a geographic area. A first portion of map information corresponding to the geographic area of the first polygon may be identified, and the first portion may be provided to the client computing device for display to a user such that the portion represents a currently available service area for the user.
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