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    Actively Modifying a Field of View of an Autonomous Vehicle in view of Constraints
    11.
    发明申请
    Actively Modifying a Field of View of an Autonomous Vehicle in view of Constraints 审中-公开

    公开(公告)号：US20180024567A1

    公开(公告)日：2018-01-25

    申请号：US15675857

    申请日：2017-08-14

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Jiajun Zhu

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

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

    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.

    Methods and systems for object detection using laser point clouds
    13.
    发明授权
    Methods and systems for object detection using laser point clouds 有权

    公开(公告)号：US09697606B2

    公开(公告)日：2017-07-04

    申请号：US14749151

    申请日：2015-06-24

    Applicant: Waymo LLC

    Inventor： James Stout ,  Jiajun Zhu

    IPC: G06K9/00 ,  G06T7/00 ,  G01S17/89 ,  G01S17/93 ,  G06T7/70 ,  G06T7/521

    CPC classification number: G06T7/521 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00201 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/70 ,  G06T2207/10028 ,  G06T2207/30261

    Abstract: Methods and systems for object detection using laser point clouds are described herein. In an example implementation, a computing device may receive laser data indicative of a vehicle's environment from a sensor and generate a two dimensional (2D) range image that includes pixels indicative of respective positions of objects in the environment based on the laser data. The computing device may modify the 2D range image to provide values to given pixels that map to portions of objects in the environment lacking laser data, which may involve providing values to the given pixels based on the average value of neighboring pixels positioned by the given pixels. Additionally, the computing device may determine normal vectors of sets of pixels that correspond to surfaces of objects in the environment based on the modified 2D range image and may use the normal vectors to provide object recognition information to systems of the vehicle.

    Actively Modifying a Field of View of an Autonomous Vehicle in View of Constraints
    14.
    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.

    Use of a reference image to detect a road obstacle
    20.
    发明授权
    Use of a reference image to detect a road obstacle 有权

    公开(公告)号：US11079768B2

    公开(公告)日：2021-08-03

    申请号：US16896203

    申请日：2020-06-08

    Applicant: Waymo LLC

    Inventor： David Ian Ferguson ,  Jiajun Zhu

    IPC: G05D1/02 ,  G06K9/00 ,  G06T7/00

    Abstract: Methods and systems for use of a reference image to detect a road obstacle are described. A computing device configured to control a vehicle, may be configured to receive, from an image-capture device, an image of a road on which the vehicle is travelling. The computing device may be configured to compare the image to a reference image; and identify a difference between the image and the reference image. Further, the computing device may be configured to determine a level of confidence for identification of the difference. Based on the difference and the level of confidence, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

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