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    Modifying the behavior of an autonomous vehicle using context based parameter switching
    11.
    发明授权
    Modifying the behavior of an autonomous vehicle using context based parameter switching 有权

    公开(公告)号：US10345810B1

    公开(公告)日：2019-07-09

    申请号：US15659071

    申请日：2017-07-25

    Applicant: WAYMO LLC

    Inventor： Jiajun Zhu ,  Christopher Urmson ,  David I. Ferguson ,  Nathaniel Fairfield ,  Dmitri A. Dolgov

    IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02

    Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.

    Plane estimation for contextual awareness
    12.
    发明授权
    Plane estimation for contextual awareness 有权

    公开(公告)号：US10198643B1

    公开(公告)日：2019-02-05

    申请号：US15383317

    申请日：2016-12-19

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  David Harrison Silver ,  Hyman Jack Murveit

    IPC: G06K9/00 ,  G06K9/62 ,  G05D1/02

    Abstract: Aspects of the disclosure relate to classifying the status of objects. For examples, one or more computing devices detect an object from an image of a vehicle's environment. The object is associated with a location. The one or more computing devices receive data corresponding to the surfaces of objects in the vehicle's environment and identifying data within a region around the location of the object. The one or more computing devices also determine whether the data within the region corresponds to a planar surface extending away from an edge of the object. Based on this determination, the one or more computing devices classify the status of the object.

    Determining changes in a driving environment based on vehicle behavior
    13.
    发明授权
    Determining changes in a driving environment based on vehicle behavior 有权

    公开(公告)号：US10192442B2

    公开(公告)日：2019-01-29

    申请号：US15468574

    申请日：2017-03-24

    Applicant: Waymo LLC

    Inventor： David I. Ferguson

    IPC: G08G1/00 ,  G08G1/16

    Abstract: A method and apparatus are provided for determining whether a driving environment has changed relative to previously stored information about the driving environment. The apparatus may include an autonomous driving computer system configured to detect one or more vehicles in the driving environment, and determine corresponding trajectories for those detected vehicles. The autonomous driving computer system may then compare the determined trajectories to an expected trajectory of a hypothetical vehicle in the driving environment. Based on the comparison, the autonomous driving computer system may determine whether the driving environment has changed and/or a probability that the driving environment has changed, relative to the previously stored information about the driving environment.

    Controlling a vehicle having inadequate map data
    14.
    再颁专利
    Controlling a vehicle having inadequate map data 有权

    公开(公告)号：USRE47002E1

    公开(公告)日：2018-08-21

    申请号：US15367112

    申请日：2016-12-01

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Dmitri Dolgov

    IPC: G01C22/00 ,  G05D1/02

    CPC classification number: G05D1/0212 ,  B62D15/0285 ,  G05D1/0274 ,  G05D2201/0213

    Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

    Actively Modifying a Field of View of an Autonomous Vehicle in View of Constraints
    15.
    发明申请
    Actively Modifying a Field of View of an Autonomous Vehicle in View of Constraints 有权

    公开(公告)号：US20250148918A1

    公开(公告)日：2025-05-08

    申请号：US19015091

    申请日：2025-01-09

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Jiajun Zhu

    IPC: G08G1/16 ,  G05D1/24 ,  G05D1/243 ,  G05D1/43 ,  G06V20/56

    Abstract: Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

    Actively modifying a field of view of an autonomous vehicle in view of constraints
    18.
    发明授权
    Actively modifying a field of view of an autonomous vehicle in view of constraints 有权

    公开(公告)号：US11829152B2

    公开(公告)日：2023-11-28

    申请号：US18049134

    申请日：2022-10-24

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Jiajun Zhu

    IPC: G05D1/02 ,  G08G1/16 ,  B60R1/00

    CPC classification number: G05D1/0231 ,  B60R1/00 ,  G05D1/0214 ,  G08G1/167 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307

    Abstract: Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

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