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    Robust method for detecting traffic signals and their associated states
    72.
    发明授权
    Robust method for detecting traffic signals and their associated states 有权

    公开(公告)号：US12134384B2

    公开(公告)日：2024-11-05

    申请号：US18218290

    申请日：2023-07-05

    Applicant: Waymo LLC

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

    IPC: B60W30/18 ,  G05D1/00 ,  G06V20/56 ,  G06V20/58

    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.

    Change detection using curve alignment
    73.
    发明授权
    Change detection using curve alignment 有权

    公开(公告)号：US11829138B1

    公开(公告)日：2023-11-28

    申请号：US17705967

    申请日：2022-03-28

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  David I. Ferguson

    IPC: G05D1/00 ,  G01C21/32 ,  G05D1/02 ,  B60W30/095 ,  B60W30/10 ,  G08G1/16 ,  B62D6/00

    CPC classification number: G05D1/0088 ,  B60W30/0956 ,  B60W30/10 ,  B62D6/00 ,  G01C21/32 ,  G05D1/0214 ,  G08G1/16

    Abstract: Aspects of the disclosure relate to determining whether a feature of map information. For example, data identifying an object detected in a vehicle's environment and including location coordinates is received. This information is used to identify a corresponding feature from pre-stored map information based on a map location of the corresponding feature. The corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding object. A tolerance constraint is identified based on the tag. The curve is divided into two or more line segments. Each line segment has a first position. The first position of a line segment is changed in order to determine a second position based on the location coordinates and the tolerance constraint. A value is determined based on a comparison of the first position to the second position. This value indicates a likelihood that the corresponding feature has changed.

    Actively modifying a field of view of an autonomous vehicle in view of constraints
    76.
    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：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

    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.

    MAPPING ACTIVE AND INACTIVE CONSTRUCTION ZONES FOR AUTONOMOUS DRIVING
    77.
    发明申请
    MAPPING ACTIVE AND INACTIVE CONSTRUCTION ZONES FOR AUTONOMOUS DRIVING 有权

    公开(公告)号：US20220229439A1

    公开(公告)日：2022-07-21

    申请号：US17678164

    申请日：2022-02-23

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Donald Jason Burnette

    IPC: G05D1/02 ,  G05D1/00 ,  G01C21/26 ,  G01C21/32 ,  G06V20/58 ,  G06V20/56 ,  B60W30/00 ,  G06K9/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/14 ,  G01C21/34

    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.

    Actively modifying a field of view of an autonomous vehicle in view of constraints
    78.
    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：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

    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.

    Modifying the behavior of an autonomous vehicle using context based parameter switching
    79.
    发明授权
    Modifying the behavior of an autonomous vehicle using context based parameter switching 有权

    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

    IPC: G05D1/00 ,  G05D1/02

    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.

    Modifying speed of an autonomous vehicle based on traffic conditions
    80.
    发明授权
    Modifying speed of an autonomous vehicle based on traffic conditions 有权

    公开(公告)号：US11014557B1

    公开(公告)日：2021-05-25

    申请号：US15887151

    申请日：2018-02-02

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Dmitri A. Dolgov

    IPC: B60W30/14 ,  G05D1/00

    Abstract: Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

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