公开(公告)号：US20220185313A1

公开(公告)日：2022-06-16

申请号：US17118758

申请日：2020-12-11

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  G06K9/62 ,  G06K9/00

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US12060080B2

公开(公告)日：2024-08-13

申请号：US18310620

申请日：2023-05-02

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  B60W40/06 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56

CPC classification number: B60W60/00184 ,  B60W40/06 ,  B60W60/001 ,  B60W60/00182 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56 ,  G06V20/588 ,  B60W2420/408

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US20210354723A1

公开(公告)日：2021-11-18

申请号：US16872502

申请日：2020-05-12

Applicant: Waymo LLC

Inventor： Courtney McCool ,  Roshni Cooper ,  Timothy Yang ,  Yuchi Wang

IPC: B60W60/00 ,  G06K9/00 ,  G06K9/62

Abstract: Aspects of the disclosure provide methods for controlling a first vehicle having an autonomous driving mode. In one instance, sensor data generated by one or more sensors of the first vehicle may be received. A splash and characteristics of the splash may be detected from the sensor data using a classifier. A severity of a puddle may be determined based on the characteristics of the splash and a speed of a second vehicle that caused the splash. The first vehicle may be controlled based on the severity. In another instance, a location of a puddle relative to a tire of a second vehicle is estimated using sensor data generated by one or more sensors of the first vehicle. A severity of the puddle may be determined based on the estimated location. The first vehicle may be controlled based on the severity.

公开(公告)号：US20240201391A1

公开(公告)日：2024-06-20

申请号：US18068503

申请日：2022-12-19

Applicant: Waymo LLC

Inventor： Jingyuan Linda Zhang ,  Kanika Sachdev ,  Caner Onal ,  Michael Marx ,  Yuchi Wang

IPC: G01S17/95 ,  G01S7/487 ,  G01S17/42

CPC classification number: G01S17/95 ,  G01S7/4873 ,  G01S17/42

Abstract: Example embodiments relate to differential methods for determining environment estimation, lidar impairment detection, and filtering. An example embodiment includes dividing a plurality of lidar device channels into a first group and a second group and interleaving the channels. The embodiment includes applying a threshold to the first group. The embodiment further includes emitting light pulses from a lidar device into an environment surrounding the lidar device, and detecting return light pulses. The return light pulses in the first group of channels are sampled from the signals that exceed the threshold. The embodiment may further include determining a differential in a statistical distribution between the return light pulses in the first group and the return light pulses in the second group. Based on the differential, the method can include detecting an atmospheric scattering medium in the environment surrounding the lidar device.

公开(公告)号：US20230264715A1

公开(公告)日：2023-08-24

申请号：US18310620

申请日：2023-05-02

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  G06V20/56 ,  B60W40/06 ,  G06F18/23 ,  G06F18/2415

CPC classification number: B60W60/00184 ,  B60W40/06 ,  B60W60/001 ,  B60W60/00182 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56 ,  G06V20/588 ,  B60W2420/52

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US11673581B2

公开(公告)日：2023-06-13

申请号：US17118758

申请日：2020-12-11

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  G06V20/56 ,  B60W40/06 ,  G06F18/23 ,  G06F18/2415

CPC classification number: B60W60/00184 ,  B60W40/06 ,  B60W60/001 ,  B60W60/00182 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56 ,  G06V20/588 ,  B60W2420/52

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US20220390612A1

公开(公告)日：2022-12-08

申请号：US17303770

申请日：2021-06-07

Applicant: Waymo LLC

Inventor： Yuchi Wang ,  Rui Wu ,  Jingyuan Linda Zhang

IPC: G01S17/95 ,  G01S17/931 ,  B60W60/00

Abstract: Aspects and implementations of the present disclosure address challenges of the existing technology by enabling lidar-assisted identification and characterization of visibility-reducing media (VRM) such as fog, rain, snow, dust in autonomous vehicle applications, using lidar sensing. VRM can be identified and characterized using a variety of techniques, including analyzing a spatial distribution of low-intensity lidar returns, detecting pulse elongation of VRM-returns associated with reflection from VRM, determining intensity of VRM-returns, determining reduction of intensity of returns from various reference objects, and other techniques.