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    Mapping active and inactive construction zones for autonomous driving
    21.
    发明授权
    Mapping active and inactive construction zones for autonomous driving 有权

    公开(公告)号：US11287823B2

    公开(公告)日：2022-03-29

    申请号：US16391837

    申请日：2019-04-23

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Donald Jason Burnette

    IPC: G05D1/02 ,  G05D1/00 ,  G01C21/26 ,  G01C21/32 ,  G06K9/00 ,  B60W30/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/14 ,  G01C21/34 ,  G01S13/931 ,  G01S19/42

    Abstract: Aspects of the present disclosure relate to differentiating between active and inactive construction zones. In one example, this may include identifying a construction object associated with a construction zone. The identified construction object may be used to map the area of the construction zone. Detailed map information may then be used to classify the activity of the construction zone. The area of the construction zone and the classification may be added to the detailed map information. Subsequent to adding the construction zone and the classification to the detailed map information, the construction object (or another construction object) may be identified. The location of the construction object may be used to identify the construction zone and classification from the detailed map information. The classification of the classification may be used to operate a vehicle having an autonomous mode.

    Actively Modifying a Field of View of an Autonomous Vehicle in view of Constraints
    22.
    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：US20200033873A1

    公开(公告)日：2020-01-30

    申请号：US16588746

    申请日：2019-09-30

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Jiajun Zhu

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

    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.

    Characterizing optically reflective features via hyper-spectral sensor
    23.
    发明授权
    Characterizing optically reflective features via hyper-spectral sensor 有权

    公开(公告)号：US10508986B1

    公开(公告)日：2019-12-17

    申请号：US15959611

    申请日：2018-04-23

    Applicant: Waymo LLC

    Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov ,  Jonathan Baldwin Dowdall

    IPC: G01N21/27 ,  G05D1/00 ,  G01S17/08

    Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.

    Modifying a vehicle state based on the presence of a special-purpose vehicle
    24.
    发明授权
    Modifying a vehicle state based on the presence of a special-purpose vehicle 有权

    公开(公告)号：US10427684B1

    公开(公告)日：2019-10-01

    申请号：US15887329

    申请日：2018-02-02

    Applicant: Waymo LLC

    Inventor： David I. Ferguson

    IPC: B60W30/18 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G05D1/02 ,  G05D1/00

    Abstract: A method is provided that includes receiving user input identifying a travel destination for a first vehicle, determining, by a processor, a first route for the first vehicle to follow, and configuring the first vehicle to follow the first route. The method further includes obtaining a model for a second vehicle that shares a road with the first vehicle and comparing model to a pre-determined template for a vehicle that is known to be a special purpose vehicle in order to determine whether the first template and the second template match. The method further includes determining, by the processor, a second route that leads to the travel destination, when a match is found to exist, and switching the first vehicle from following the first route to following the second route.

    Mapping active and inactive construction zones for autonomous driving
    25.
    发明授权
    Mapping active and inactive construction zones for autonomous driving 有权

    公开(公告)号：US10317906B2

    公开(公告)日：2019-06-11

    申请号：US15370361

    申请日：2016-12-06

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Donald Jason Burnette

    IPC: G05D1/02 ,  G05D1/00 ,  G01C21/26 ,  B60W30/00 ,  G06K9/00 ,  G01C21/32 ,  B60W10/04 ,  B60W10/20 ,  B60W30/14 ,  G01C21/34 ,  G01S13/93 ,  G01S19/42

    Abstract: Aspects of the present disclosure relate to differentiating between active and inactive construction zones. In one example, this may include identifying a construction object associated with a construction zone. The identified construction object may be used to map the area of the construction zone. Detailed map information may then be used to classify the activity of the construction zone. The area of the construction zone and the classification may be added to the detailed map information. Subsequent to adding the construction zone and the classification to the detailed map information, the construction object (or another construction object) may be identified. The location of the construction object may be used to identify the construction zone and classification from the detailed map information. The classification of the classification may be used to operate a vehicle having an autonomous mode.

    Controlling a Vehicle Having Inadequate Map Data
    27.
    发明申请
    Controlling a Vehicle Having Inadequate Map Data 审中-公开

    公开(公告)号：US20180364734A1

    公开(公告)日：2018-12-20

    申请号：US16110050

    申请日：2018-08-23

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Dmitri Dolgov

    IPC: G05D1/02

    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.

    Determining the stationary state of detected vehicles
    28.
    发明授权
    Determining the stationary state of detected vehicles 有权

    公开(公告)号：US10156851B1

    公开(公告)日：2018-12-18

    申请号：US15384782

    申请日：2016-12-20

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  David I. Ferguson

    IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16 ,  B60W30/18 ,  B60W50/00

    Abstract: Aspects of the disclosure relate to an autonomous vehicle that may detect other nearby vehicles and designate stationary vehicles as being in one of a short-term stationary state or a long-term stationary state. This determination may be made based on various indicia, including visible indicia displayed by the detected vehicle and traffic control factors relating to the detected vehicle. For example, the autonomous vehicle may identify a detected vehicle as being in a long-term stationary state based on detection of hazard lights being displayed by the detected vehicle, as well as the absence of brake lights being displayed by the detected vehicle. The autonomous vehicle may then base its control strategy on the stationary state of the detected vehicle.

    Controlling a vehicle having inadequate map data
    29.
    再颁专利
    Controlling a vehicle having inadequate map data 有权

    公开(公告)号：USRE47058E1

    公开(公告)日：2018-09-25

    申请号：US15367122

    申请日：2016-12-01

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Dmitri Dolgov

    IPC: G01C22/00 ,  G05D1/02

    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.

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