公开(公告)号：US20210103289A1

公开(公告)日：2021-04-08

申请号：US17101597

申请日：2020-11-23

Applicant: Waymo LLC

Inventor： Bradley Templeton ,  Pierre-Yves Droz ,  Jiajun Zhu

IPC: G05D1/02 ,  G01S17/42 ,  G01S17/89 ,  G01S7/48 ,  G01S7/484 ,  G01S17/86 ,  G01S17/931 ,  G01S7/4865 ,  G01S17/10

Abstract: A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature.

公开(公告)号：US10943414B1

公开(公告)日：2021-03-09

申请号：US15797318

申请日：2017-10-30

Applicant: Waymo LLC

Inventor： Carl Nygaard ,  James Stout ,  Jiajun Zhu

IPC: G07C5/08 ,  G06F30/20

Abstract: An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle's environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle's environment. The virtual object represents a real object that is not in the vehicle's environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.

公开(公告)号：US10852733B1

公开(公告)日：2020-12-01

申请号：US15976179

申请日：2018-05-10

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G05D1/02 ,  G08G1/0967 ,  B62D15/02 ,  B60W40/04 ,  G05D1/00 ,  B62D15/00 ,  G01C21/26 ,  B62D1/00 ,  B62D6/00 ,  B60W40/072 ,  B60W30/095 ,  B60W30/16 ,  B60W10/18 ,  B60W10/20 ,  B60W50/04 ,  G08G1/00 ,  G01S17/88 ,  G01S15/42 ,  G01S13/86 ,  G01S17/42 ,  G01S13/931

Abstract: A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.

公开(公告)号：US10564639B1

公开(公告)日：2020-02-18

申请号：US15670128

申请日：2017-08-07

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  David I. Ferguson

IPC: G08G1/16 ,  B60W30/095 ,  G01S13/93 ,  G05D1/00 ,  G05D1/02 ,  G01S17/93 ,  G08G1/0967 ,  G01S13/931

Abstract: Aspects of the invention relate generally to autonomous vehicles. The features described improve the safety, use, driver experience, and performance of these vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, the autonomous vehicle is capable of detecting nearby objects, such as vehicles and pedestrians, and is able to determine how the detected vehicles and pedestrians perceive their surroundings. The autonomous vehicle may then use this information to safely maneuver around all nearby objects.

公开(公告)号：US10466712B2

公开(公告)日：2019-11-05

申请号：US15675857

申请日：2017-08-14

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.

公开(公告)号：US10310509B1

公开(公告)日：2019-06-04

申请号：US15892684

申请日：2018-02-09

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G05D1/00 ,  G05D1/02 ,  G01C21/28

Abstract: Methods and systems are disclosed for determining sensor degradation by actively controlling an autonomous vehicle. Determining sensor degradation may include obtaining sensor readings from a sensor of an autonomous vehicle, and determining baseline state information from the obtained sensor readings. A movement characteristic of the autonomous vehicle, such as speed or position, may then be changed. The sensor may then obtain additional sensor readings, and second state information may be determined from these additional sensor readings. Expected state information may be determined from the baseline state information and the change in the movement characteristic of the autonomous vehicle. A comparison of the expected state information and the second state information may then be performed. Based on this comparison, a determination may be made as to whether the sensor has degraded.

公开(公告)号：US10247854B2

公开(公告)日：2019-04-02

申请号：US15449097

申请日：2017-03-03

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G06F19/00 ,  G01W1/00 ,  G01W1/14 ,  G01N21/47 ,  G01S17/02 ,  G01S17/87 ,  G05D1/00 ,  G05D1/02 ,  H04N7/18

Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.

公开(公告)号：US10198619B1

公开(公告)日：2019-02-05

申请号：US15874130

申请日：2018-01-18

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

IPC: G06K9/00 ,  G06T7/223 ,  G06T7/231 ,  G06T7/20 ,  B60R1/00

Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

公开(公告)号：US10185324B1

公开(公告)日：2019-01-22

申请号：US15631253

申请日：2017-06-23

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Andrew Hughes Chatham ,  Hendrik Dahlkamp ,  Michael Steven Montemerlo ,  Jiajun Zhu

IPC: G01C21/00 ,  G05D1/02 ,  G01C21/32 ,  G09B29/12

Abstract: Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.

公开(公告)号：US20180267556A1

公开(公告)日：2018-09-20

申请号：US15988612

申请日：2018-05-24

Applicant: Waymo LLC

Inventor： Bradley Templeton ,  Pierre-Yves Droz ,  Jiajun Zhu

IPC: G05D1/02 ,  G01S7/486 ,  G01S17/93 ,  G01S17/10

CPC classification number: G05D1/0231 ,  G01S7/4802 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0213

Abstract: A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature.