公开(公告)号：US11731629B2

公开(公告)日：2023-08-22

申请号：US17080724

申请日：2020-10-26

Applicant: Waymo LLC

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

IPC: B60W30/18 ,  G06V20/56 ,  G06V20/58 ,  G05D1/02 ,  G05D1/00

CPC classification number: B60W30/18154 ,  G05D1/0088 ,  G05D1/0231 ,  G06V20/56 ,  G06V20/582 ,  G06V20/584 ,  B60W2555/60 ,  B60W2556/50

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.

公开(公告)号：US11287820B1

公开(公告)日：2022-03-29

申请号：US16737318

申请日：2020-01-08

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  David I. Ferguson

IPC: G08G1/16 ,  B60W30/095 ,  G01S13/93 ,  G05D1/00 ,  G01S13/931 ,  G01S13/86 ,  G01S17/931 ,  G05D1/02 ,  G01S15/931 ,  G08G1/0967

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：US20210166044A1

公开(公告)日：2021-06-03

申请号：US17154976

申请日：2021-01-21

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Bradley Templeton

IPC: G06K9/00 ,  G08G1/0967 ,  G08G1/0962 ,  B60W40/00 ,  G08G1/00

Abstract: Methods and devices for using a relationship between activities of different traffic signals in a network to improve traffic signal state estimation are disclosed. An example method includes determining that a vehicle is approaching an upcoming traffic signal. The method may further include determining a state of one or more traffic signals other than the upcoming traffic signal. Additionally, the method may also include determining an estimate of a state of the upcoming traffic signal based on a relationship between the state of the one or more traffic signals other than the upcoming traffic signal and the state of the upcoming traffic signal.

公开(公告)号：US20190258261A1

公开(公告)日：2019-08-22

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 ,  G01C21/32 ,  G01C21/26 ,  B60W30/00 ,  G06K9/00 ,  B60W30/14 ,  B60W10/20 ,  B60W10/04 ,  G01C21/34

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.

公开(公告)号：US20190171891A1

公开(公告)日：2019-06-06

申请号：US16257735

申请日：2019-01-25

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Bradley Templeton

IPC: G06K9/00 ,  G08G1/0967 ,  G08G1/0962 ,  G08G1/00 ,  B60W40/00

Abstract: Methods and devices for using a relationship between activities of different traffic signals in a network to improve traffic signal state estimation are disclosed. An example method includes determining that a vehicle is approaching an upcoming traffic signal. The method may further include determining a state of one or more traffic signals other than the upcoming traffic signal. Additionally, the method may also include determining an estimate of a state of the upcoming traffic signal based on a relationship between the state of the one or more traffic signals other than the upcoming traffic signal and the state of the upcoming traffic signal.

公开(公告)号：US10198641B2

公开(公告)日：2019-02-05

申请号：US15379757

申请日：2016-12-15

Applicant: Waymo LLC

Inventor： Wan-Yen Lo ,  David I. Ferguson

IPC: G06T7/50 ,  G06F1/00 ,  G06T15/20 ,  G06K9/00 ,  B60W30/00 ,  G01C21/00 ,  G05D1/02 ,  G06T7/70 ,  B60R1/00 ,  B60R11/04 ,  G05D1/00 ,  G06K9/62 ,  G06T17/10

Abstract: Disclosed herein are methods and systems for determining a location of an object within an environment. An example method may include determining a three-dimensional (3D) location of a plurality of reference points in an environment, receiving a two-dimensional (2D) image of a portion of the environment that contains an object, selecting certain reference points from the plurality of reference points that form a polygon when projected into the 2D image that contains at least a portion of the object, determining an intersection point of a ray directed toward the object and a 3D polygon formed by the selected reference points, and based on the intersection point of the ray directed toward the object and the 3D polygon formed by the selected reference points, determining a 3D location of the object in the environment.

公开(公告)号：US10012991B1

公开(公告)日：2018-07-03

申请号：US15216199

申请日：2016-07-21

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G05D1/02 ,  G08G1/0967 ,  G05D1/00 ,  B62D15/02 ,  B60W40/04

CPC classification number: G05D1/0212 ,  B60W40/04 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0223 ,  G05D1/0246 ,  G05D1/0287 ,  G08G1/096725

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：US09958379B1

公开(公告)日：2018-05-01

申请号：US14955186

申请日：2015-12-01

Applicant: Waymo LLC

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

IPC: G01C3/08 ,  G01N21/27 ,  G01S17/08 ,  G05D1/00

CPC classification number: G01N21/27 ,  F16L55/00 ,  G01C3/08 ,  G01S7/4808 ,  G01S7/497 ,  G01S17/023 ,  G01S17/08 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  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.

公开(公告)号：US09927813B1

公开(公告)日：2018-03-27

申请号：US15415037

申请日：2017-01-25

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Jiajun Zhu

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

CPC classification number: G05D1/024 ,  B60K31/0008 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W50/0205 ,  B60W50/029 ,  B60W2050/0215 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/10 ,  B60W2550/308 ,  B60W2720/10 ,  B60W2720/24 ,  G01C21/28 ,  G01S7/4004 ,  G01S7/497 ,  G01S7/4972 ,  G01S7/52004 ,  G01S13/58 ,  G01S13/931 ,  G01S17/023 ,  G01S17/66 ,  G01S17/87 ,  G01S2007/4039 ,  G01S2007/4975 ,  G05D1/00 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  G05D2201/0213

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：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.