公开(公告)号：US10037039B1

公开(公告)日：2018-07-31

申请号：US15599757

申请日：2017-05-19

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Dirk Haehnel

IPC: G08G1/01 ,  G05D1/02 ,  G01S17/93 ,  G01S17/89 ,  G01S17/42 ,  G05D1/00 ,  B60K31/00 ,  G06K9/00 ,  G06T7/13

CPC classification number: G05D1/0274 ,  B60K31/0008 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088 ,  G05D1/024 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/11 ,  G06T7/13 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may use a laser to collect scan data for a section of roadway. The vehicle may access a detailed map including the section of the roadway. A disturbance indicative of an object and including a set of data points data may be identified from the scan data based on the detailed map. The detailed map may also be used to estimate a heading of the disturbance. A bounding box for the disturbance may be estimated using the set of data points as well as the estimated heading. The parameters of the bounding box may then be adjusted in order to increase or maximize the average density of data points of the disturbance along the edges of the bounding box visible to the laser. This adjusted bounding box may then used to maneuver the vehicle.

公开(公告)号：US09983590B2

公开(公告)日：2018-05-29

申请号：US15170470

申请日：2016-06-01

Applicant: Waymo LLC

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

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

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.

公开(公告)号：US09836895B1

公开(公告)日：2017-12-05

申请号：US14744891

申请日：2015-06-19

Applicant: Waymo LLC

Inventor： Carl Nygaard ,  James Stout ,  Jiajun Zhu

IPC: G01C22/00 ,  G05D1/00 ,  G07C5/08 ,  G06F17/50

CPC classification number: G07C5/0841 ,  G06F17/5009

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：US20250085707A1

公开(公告)日：2025-03-13

申请号：US18957099

申请日：2024-11-22

Applicant: Waymo LLC

Inventor： David Ian Ferguson ,  Jiajun Zhu

IPC: G05D1/00 ,  G06T7/00 ,  G06V20/58

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.

公开(公告)号：US12099359B1

公开(公告)日：2024-09-24

申请号：US18447473

申请日：2023-08-10

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Christopher Urmson ,  David I. Ferguson ,  Nathaniel Fairfield ,  Dmitri Dolgov

IPC: G05D1/00 ,  B60W30/00

CPC classification number: G05D1/0088 ,  B60W30/00 ,  G05D1/021 ,  G05D1/0231 ,  G05D1/0246

Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.

公开(公告)号：US12093052B2

公开(公告)日：2024-09-17

申请号：US17848510

申请日：2022-06-24

Applicant: Waymo LLC

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

IPC: G05D1/00 ,  G01S7/48 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931

CPC classification number: G05D1/0231 ,  G01S7/4802 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G05D1/024 ,  G05D1/0246

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：US12001217B1

公开(公告)日：2024-06-04

申请号：US17717290

申请日：2022-04-11

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G05D1/00 ,  B60K31/00 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W50/02 ,  B60W50/029 ,  G01C21/28 ,  G01S7/40 ,  G01S7/497 ,  G01S7/52 ,  G01S13/58 ,  G01S13/931 ,  G01S17/66 ,  G01S17/86 ,  G01S17/87

CPC classification number: G05D1/024 ,  B60K31/0008 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W50/0205 ,  B60W50/029 ,  G01C21/28 ,  G01S7/4004 ,  G01S7/497 ,  G01S7/4972 ,  G01S7/52004 ,  G01S13/58 ,  G01S13/931 ,  G01S17/66 ,  G01S17/86 ,  G01S17/87 ,  G05D1/00 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  B60W2050/0215 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2554/00 ,  B60W2554/801 ,  B60W2720/10 ,  B60W2720/24 ,  G01S7/4039 ,  G01S2007/4975

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：US11983972B1

公开(公告)日：2024-05-14

申请号：US17159271

申请日：2021-01-27

Applicant: Waymo LLC

Inventor： Carl Nygaard ,  James Stout ,  Jiajun Zhu

IPC: G07C5/08 ,  G05D1/00 ,  G06F30/20

CPC classification number: G07C5/0841 ,  G05D1/0088 ,  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：US20240045438A1

公开(公告)日：2024-02-08

申请号：US18490520

申请日：2023-10-19

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G05D1/02 ,  G08G1/16 ,  B60R1/00

CPC classification number: G05D1/0231 ,  G05D1/0214 ,  G08G1/167 ,  B60R1/00 ,  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.

公开(公告)号：US11878683B1

公开(公告)日：2024-01-23

申请号：US17523350

申请日：2021-11-10

Applicant: Waymo LLC

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

IPC: B60W30/09 ,  G05D1/00 ,  G05D1/02 ,  G08G1/16 ,  B60W30/08 ,  B60W30/095 ,  G08G1/0962 ,  G08G1/0967 ,  G06N20/00 ,  G06N3/00 ,  G06V20/56 ,  G06V20/58 ,  B60W50/00 ,  G01R19/25 ,  G06V10/20

CPC classification number: B60W30/09 ,  B60W30/08 ,  B60W30/095 ,  B60W30/0956 ,  B60W50/0097 ,  G05D1/0088 ,  G05D1/0214 ,  G06N3/00 ,  G06N20/00 ,  G06V20/56 ,  G06V20/58 ,  G06V20/582 ,  G06V20/584 ,  G06V20/588 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166 ,  B60W2554/00 ,  G01R19/25 ,  G05D1/0212 ,  G05D1/0289 ,  G06V10/255

Abstract: A method and apparatus are provided for determining one or more behavior models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the behavior models. The server may determine the behavior models according to a given object classification, actions of interest performed by the object, and the object's perceived surroundings.