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公开(公告)号：US20250085706A1
公开(公告)日：2025-03-13
申请号：US18953500
申请日：2024-11-20
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US10955846B1
公开(公告)日：2021-03-23
申请号：US16522921
申请日：2019-07-26
Applicant: WAYMO LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.
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公开(公告)号：US20200233430A1
公开(公告)日：2020-07-23
申请号：US16837017
申请日：2020-04-01
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson , Abhijit Ogale
Abstract: A computing device of a first vehicle may receive a first image and a second image of a second vehicle having flashing light signals. The computing device may determine, in the first image and the second image, an image region that bounds the second vehicle such that the image region substantially encompasses the second vehicle. The computing device may determine a polar grid that partitions the image region in the first image and the second image into polar bins, and identify portions of image data exhibiting a change in color and a change in brightness between the first image and the second image. The computing device may determine a type of the flashing light signals and a type of the second vehicle; and accordingly provide instructions to control the first vehicle.
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公开(公告)号：US20190318207A1
公开(公告)日：2019-10-17
申请号：US16447842
申请日：2019-06-20
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , Abhijit Ogale , Yang Gao
Abstract: In some implementations, an image classification system of an autonomous or semi-autonomous vehicle is capable of improving multi-object classification by reducing repeated incorrect classification of objects that are considered rarely occurring objects. The system can include a common instance classifier that is trained to identify and recognize general objects (e.g., commonly occurring objects and rarely occurring objects) as belonging to specified object categories, and a rare instance classifier that is trained to compute one or more rarity scores representing likelihoods that an input image is correctly classified by the common instance classifier. The output of the rare instance classifier can be used to adjust the classification output of the common instance classifier such that the likelihood of input images being incorrectly classified is reduced.
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公开(公告)号：US10346724B2
公开(公告)日：2019-07-09
申请号：US15630275
申请日：2017-06-22
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , Abhijit Ogale , Yang Gao
Abstract: In some implementations, an image classification system of an autonomous or semi-autonomous vehicle is capable of improving multi-object classification by reducing repeated incorrect classification of objects that are considered rarely occurring objects. The system can include a common instance classifier that is trained to identify and recognize general objects (e.g., commonly occurring objects and rarely occurring objects) as belonging to specified object categories, and a rare instance classifier that is trained to compute one or more rarity scores representing likelihoods that an input image is correctly classified by the common instance classifier. The output of the rare instance classifier can be used to adjust the classification output of the common instance classifier such that the likelihood of input images being incorrectly classified is reduced.
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Patent Agency Ranking
公开(公告)号：US10168712B1
公开(公告)日：2019-01-01
申请号：US15671316
申请日：2017-08-08
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson , Abhijit Ogale
Abstract: A computing device of a first vehicle may receive a first image and a second image of a second vehicle having flashing light signals. The computing device may determine, in the first image and the second image, an image region that bounds the second vehicle such that the image region substantially encompasses the second vehicle. The computing device may determine a polar grid that partitions the image region in the first image and the second image into polar bins, and identify portions of image data exhibiting a change in color and a change in brightness between the first image and the second image. The computing device may determine a type of the flashing light signals and a type of the second vehicle; and accordingly provide instructions to control the first vehicle.
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公开(公告)号：US10095236B1
公开(公告)日：2018-10-09
申请号：US15828161
申请日：2017-11-30
Applicant: Waymo LLC
Inventor： David Franklin Ferguson , Wan-Yen Lo , Nathaniel Fairfield
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US20240036583A1
公开(公告)日：2024-02-01
申请号：US18484090
申请日：2023-10-10
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
CPC classification number: G05D1/0246 , B60W40/04 , G06V20/56 , G06V20/58 , G05D1/00 , G05D1/0022 , G05D1/0088 , G07C5/008 , B60W2050/0215
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US20200033877A1
公开(公告)日：2020-01-30
申请号：US16594028
申请日：2019-10-06
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US20190101928A1
公开(公告)日：2019-04-04
申请号：US16191835
申请日：2018-11-15
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson , Abhijit Ogale
CPC classification number: G05D1/0246 , G05D2201/0212 , G06K9/00825 , G06K9/4652 , G06K9/4661 , G06K9/50
Abstract: A computing device of a first vehicle may receive a first image and a second image of a second vehicle having flashing light signals. The computing device may determine, in the first image and the second image, an image region that bounds the second vehicle such that the image region substantially encompasses the second vehicle. The computing device may determine a polar grid that partitions the image region in the first image and the second image into polar bins, and identify portions of image data exhibiting a change in color and a change in brightness between the first image and the second image. The computing device may determine a type of the flashing light signals and a type of the second vehicle; and accordingly provide instructions to control the first vehicle.
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