公开(公告)号：US20170316273A1

公开(公告)日：2017-11-02

申请号：US15653716

申请日：2017-07-19

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Bradley Templeton

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

CPC classification number: G06K9/00825 ,  B60W40/00 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096716 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096775 ,  G08G1/096791

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：US09720412B1

公开(公告)日：2017-08-01

申请号：US14865660

申请日：2015-09-25

Applicant: Waymo LLC

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

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0231 ,  B60W30/00 ,  G05D1/0246 ,  G05D2201/0213

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：US09669827B1

公开(公告)日：2017-06-06

申请号：US14873647

申请日：2015-10-02

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  David Harrison Silver ,  Stéphane Ross ,  Nathaniel Fairfield ,  Ioan-Alexandru Sucan

IPC: B60W30/09 ,  B60W30/095 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/18154 ,  B60W2550/10 ,  B60W2550/30 ,  B60W2600/00 ,  B60W2720/24 ,  G05D1/0088 ,  G05D1/0214

Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.

公开(公告)号：US12187320B2

公开(公告)日：2025-01-07

申请号：US17678164

申请日：2022-02-23

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Donald Jason Burnette

IPC: B60W60/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/00 ,  B60W30/14 ,  G01C21/00 ,  G01C21/26 ,  G01C21/34 ,  G01S13/931 ,  G01S19/42 ,  G05D1/00 ,  G06V20/56 ,  G06V20/58

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：US11900693B2

公开(公告)日：2024-02-13

申请号：US18150304

申请日：2023-01-05

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Bradley Templeton

IPC: G06V20/58 ,  G08G1/0967 ,  G08G1/0962 ,  G08G1/00 ,  B60W40/00

CPC classification number: G06V20/584 ,  B60W40/00 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096716 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096775 ,  G08G1/096791

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：US20230339469A1

公开(公告)日：2023-10-26

申请号：US18218290

申请日：2023-07-05

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 ,  G06V20/56 ,  G06V20/582 ,  G06V20/584 ,  G05D1/0231 ,  G05D1/0088 ,  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：US11568652B2

公开(公告)日：2023-01-31

申请号：US17154976

申请日：2021-01-21

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Bradley Templeton

IPC: G06V20/58 ,  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：US11281918B1

公开(公告)日：2022-03-22

申请号：US17076416

申请日：2020-10-21

Applicant: Waymo LLC

Inventor： Wan-Yen Lo ,  David I. Ferguson

IPC: G06K9/00 ,  G06T15/20 ,  B60W30/00 ,  G01C21/00 ,  G05D1/02 ,  G06T7/50 ,  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：US20210039648A1

公开(公告)日：2021-02-11

申请号：US17080724

申请日：2020-10-26

Applicant: Waymo LLC

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

IPC: B60W30/18 ,  G06K9/00 ,  G05D1/00 ,  G05D1/02

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：US10906548B2

公开(公告)日：2021-02-02

申请号：US15667015

申请日：2017-08-02

Applicant: Waymo LLC

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

IPC: B60W30/18 ,  G06K9/00 ,  G05D1/02 ,  G05D1/00

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.