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公开(公告)号：US20210192238A1
公开(公告)日：2021-06-24
申请号：US17123185
申请日：2020-12-16
Applicant: WAYMO LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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公开(公告)号：US20210049374A1
公开(公告)日：2021-02-18
申请号：US16941162
申请日：2020-07-28
Applicant: Waymo LLC
Inventor： David Harrison Silver , Ivan Bogun , Romain Thibaux
Abstract: Aspects of the disclosure relate to detecting unmapped drivable road surfaces. In one instance, sensor data captured by a sensor of an autonomous vehicle may be projected onto a grid having a plurality of cells. The plurality of cells may be classified by generating a label for each of the plurality of cells. Each label may identifies whether or not a corresponding cell contains a drivable surface. Ones of the plurality of cells may be clustered based on the labels to form a cluster of cells. An area of the cluster of cells may be compared to a map. Whether the area of the cluster of cells is an unmapped drivable road surface may be determined based on the comparison.
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公开(公告)号：US10713510B2
公开(公告)日：2020-07-14
申请号：US15857952
申请日：2017-12-29
Applicant: Waymo LLC
Inventor： David Harrison Silver , Pankaj Chaudhari , Carl Kershaw
IPC: G06F19/00 , G06K9/00 , G05D1/02 , B60W40/105 , G05D1/00
Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.
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公开(公告)号：US10539959B1
公开(公告)日：2020-01-21
申请号：US15798955
申请日：2017-10-31
Applicant: Waymo LLC
Inventor： David Harrison Silver , Carl Kershaw , Pankaj Chaudhari
Abstract: The technology relates to detecting a person directing traffic. For instance, a first vehicle may be controlled in an autonomous driving mode. Sensor data is received from a perception system of the first vehicle, the sensor data identifying a person. Behavior of the person is observed using the sensor data. The observed behavior of the person and the observed behavior of a second vehicle are used to determine a likelihood value indicative of whether the person is directing traffic. The first vehicle is maneuvered in the autonomous driving mode based on the determined likelihood value.
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公开(公告)号：US20190355251A1
公开(公告)日：2019-11-21
申请号：US16392745
申请日：2019-04-24
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , H04R3/00 , G08G1/16 , G06F16/683 , G06F16/68
Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.
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Patent Agency Ranking
公开(公告)号：US10421453B1
公开(公告)日：2019-09-24
申请号：US15802820
申请日：2017-11-03
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC: B60W30/09 , B60W30/095
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.
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公开(公告)号：US10319228B2
公开(公告)日：2019-06-11
申请号：US15689336
申请日：2017-08-29
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , H04R3/00 , G06F17/30 , G08G1/16 , G06F16/683 , G06F16/68
Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.
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公开(公告)号：US20190130736A1
公开(公告)日：2019-05-02
申请号：US15798881
申请日：2017-10-31
Applicant: Waymo LLC
Inventor： David Harrison Silver , Pankaj Chaudhari
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode, the method. For instance, a vehicle may be maneuvered in the autonomous driving mode using pre-stored map information identifying traffic flow directions. Data may be received from a perception system of the vehicle identifying objects in an external environment of the vehicle related to a traffic redirection not identified the map information. The received data may be used to identify one or more corridors of a traffic redirection. One of the one or more corridors may be selected based on a direction of traffic flow through the selected corridor. The vehicle may then be controlled in the autonomous driving mode to enter and follow the selected one of the one or more corridors based on the determined direction of flow of traffic through each of the one or more corridors.
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公开(公告)号：US10203696B2
公开(公告)日：2019-02-12
申请号：US15292818
申请日：2016-10-13
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , Andreas Wendel , Zhinan Xu , David Harrison Silver , Brandon Douglas Luders
Abstract: Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle. The set of objects is filtered to remove objects corresponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The object is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle.
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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.
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