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    Controlling a vehicle having inadequate map data
    31.
    再颁专利
    Controlling a vehicle having inadequate map data 有权

    公开(公告)号：USRE46972E1

    公开(公告)日：2018-07-31

    申请号：US15367127

    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
    35.
    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：US12230140B2

    公开(公告)日：2025-02-18

    申请号：US18490520

    申请日：2023-10-19

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Jiajun Zhu

    IPC: G08G1/16 ,  G05D1/00 ,  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.

    Robust Method for Detecting Traffic Signals and Their Associated States
    36.
    发明申请
    Robust Method for Detecting Traffic Signals and Their Associated States 有权

    公开(公告)号：US20250026352A1

    公开(公告)日：2025-01-23

    申请号：US18905849

    申请日：2024-10-03

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Nathaniel Fairfield ,  Anthony Levandowski

    IPC: B60W30/18 ,  G06V20/56 ,  G06V20/58

    Abstract: Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.

    Characterizing optically reflective features via hyper-spectral sensor
    39.
    发明授权
    Characterizing optically reflective features via hyper-spectral sensor 有权

    公开(公告)号：US11802831B1

    公开(公告)日：2023-10-31

    申请号：US16677271

    申请日：2019-11-07

    Applicant: Waymo LLC

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

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

    CPC classification number: G01N21/27 ,  G01S17/08 ,  G05D1/0088

    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.

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