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    Actively modifying a field of view of an autonomous vehicle in view of constraints
    64.
    发明授权
    Actively modifying a field of view of an autonomous vehicle in view of constraints 有权

    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.

    Detecting sensor degradation by actively controlling an autonomous vehicle
    65.
    发明授权
    Detecting sensor degradation by actively controlling an autonomous vehicle 有权

    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.

    Robust Method for Detecting Traffic Signals and their Associated States
    68.
    发明申请
    Robust Method for Detecting Traffic Signals and their Associated States 审中-公开

    公开(公告)号：US20170355375A1

    公开(公告)日：2017-12-14

    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 ,  G05D1/00 ,  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.

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