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公开(公告)号：US11762386B1
公开(公告)日：2023-09-19
申请号：US17341703
申请日：2021-06-08
Applicant: WAYMO LLC
Inventor： Jiajun Zhu , Christopher Urmson , David I. Ferguson , Nathaniel Fairfield , Dmitri Dolgov
CPC classification number: G05D1/0088 , B60W30/00 , G05D1/021 , G05D1/0231 , 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.
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公开(公告)号：USRE49649E1
公开(公告)日：2023-09-12
申请号：US17138281
申请日：2020-12-30
Applicant: WAYMO LLC
Inventor： Jiajun Zhu , David I. Ferguson , Dmitri A. Dolgov
CPC classification number: B60W30/00 , B60W30/12 , B60W30/16 , G01C21/34 , G05D1/02 , B60W2050/0095 , B60W2554/80 , B60W2556/50
Abstract: Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.
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公开(公告)号：US20230069346A1
公开(公告)日：2023-03-02
申请号：US18049920
申请日：2022-10-26
Applicant: Waymo LLC
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
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公开(公告)号：US11518395B1
公开(公告)日：2022-12-06
申请号：US15825674
申请日：2017-11-29
Applicant: Waymo LLC
Inventor： Jiajun Zhu , Dmitri A. Dolgov , Christopher Paul Urmson
Abstract: Methods and systems are disclosed for cross-validating a second sensor with a first sensor. Cross-validating the second sensor may include obtaining sensor readings from the first sensor and comparing the sensor readings from the first sensor with sensor readings obtained from the second sensor. In particular, the comparison of the sensor readings may include comparing state information about a vehicle detected by the first sensor and the second sensor. In addition, comparing the sensor readings may include obtaining a first image from the first sensor, obtaining a second image from the second sensor, and then comparing various characteristics of the images. One characteristic that may be compared are object labels applied to the vehicle detected by the first and second sensor. The first and second sensors may be different types of sensors.
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公开(公告)号：US11507102B2
公开(公告)日：2022-11-22
申请号：US16588746
申请日：2019-09-30
Applicant: Waymo LLC
Inventor： David I. Ferguson , Jiajun Zhu
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.
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Patent Agency Ranking
公开(公告)号：US11294390B2
公开(公告)日：2022-04-05
申请号：US16588688
申请日：2019-09-30
Applicant: Waymo LLC
Inventor： David I. Ferguson , Jiajun Zhu
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.
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公开(公告)号：US11036227B1
公开(公告)日：2021-06-15
申请号：US16436033
申请日：2019-06-10
Applicant: WAYMO LLC
Inventor： Jiajun Zhu , Christopher Urmson , David I. Ferguson , Nathaniel Fairfield , Dmitri Dolgov
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.
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公开(公告)号：US10572717B1
公开(公告)日：2020-02-25
申请号：US16209429
申请日：2019-02-27
Applicant: Waymo LLC
Inventor： Jiajun Zhu , Christopher Paul Urmson , Dirk Haehnel , Nathaniel Fairfield , Russell Leigh Smith
IPC: G06K9/00 , B60T8/88 , B60T7/22 , B60T8/00 , B60T8/17 , G05D1/00 , G05D1/02 , B60T17/22 , G01C21/36 , B60W30/08 , G01S17/02 , G01S17/93 , G06T7/73 , G06T7/20 , G06T7/521 , B60R1/00 , G06T7/231 , G06T7/223 , B60T17/18 , B62D6/00 , G01S13/86 , B60W30/186 , B60W50/029 , G06K9/32
Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.
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公开(公告)号：US20200026303A1
公开(公告)日：2020-01-23
申请号：US16588688
申请日：2019-09-30
Applicant: Waymo LLC
Inventor： David I. Ferguson , Jiajun Zhu
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.
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公开(公告)号：US10347127B2
公开(公告)日：2019-07-09
申请号：US13772615
申请日：2013-02-21
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Jiajun Zhu
Abstract: A computing device may be configured to receive sensor information indicative of respective characteristics of vehicles on a road of travel of a first vehicle. The computing device may be configured to identify, based on the respective characteristics, a second vehicle that exhibits an aggressive driving behavior manifested as an unsafe or unlawful driving action. Also, based on the respective characteristics, the computing device may be configured to determine a type of the second vehicle. The computing device may be configured to estimate a distance between the first vehicle and the second vehicle. The computing device may be configured to modify a control strategy of the first vehicle, based on the aggressive driving behavior of the second vehicle, the type of the second vehicle, and the distance between the first vehicle and the second vehicle; and control the first vehicle based on the modified control strategy.
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