公开(公告)号：WO2021231355A1

公开(公告)日：2021-11-18

申请号：PCT/US2021/031682

申请日：2021-05-11

Applicant: WAYMO LLC

Inventor： MCCOOL, Courtney ,  COOPER, Roshni ,  YANG, Timothy ,  WANG, Yuchi

IPC: B60W60/00 ,  B60W40/02 ,  B60W50/00 ,  B60W60/0011 ,  B60W60/0027 ,  G06K9/00791 ,  G06K9/6267

Abstract: Aspects of the disclosure provide methods for controlling a first vehicle (100) 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 (680), (682) may be determined based on the characteristics of the splash and a speed of a second vehicle (670), (672) 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 (870) 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.