公开(公告)号：US20190033879A1

公开(公告)日：2019-01-31

申请号：US16150452

申请日：2018-10-03

Applicant: Waymo LLC

Inventor： Bradley Templeton ,  Pierre-Yves Droz ,  Jiajun Zhu

IPC: G05D1/02 ,  G01S17/42 ,  G01S17/93 ,  G01S17/89 ,  G01S7/48 ,  G01S17/10 ,  G01S17/02 ,  G01S7/486 ,  G01S7/484

Abstract: A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature.

公开(公告)号：US20180329423A1

公开(公告)日：2018-11-15

申请号：US16029340

申请日：2018-07-06

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  David I. Ferguson

IPC: G05D1/02 ,  G05D1/00 ,  G01S17/93 ,  G01S7/497

CPC classification number: G05D1/0238 ,  G01C21/3602 ,  G01S7/4026 ,  G01S7/497 ,  G01S7/4972 ,  G01S13/58 ,  G01S13/931 ,  G01S15/931 ,  G01S17/936 ,  G01S2007/403 ,  G01S2007/4091 ,  G01S2013/9367 ,  G01S2013/9382 ,  G05D1/0088 ,  G05D1/0274 ,  G05D2201/0213 ,  G08G1/166

Abstract: Example embodiments disclosed herein relate to receiving, using a computer system in a vehicle, ground truth data that relates to a current state of the vehicle in an environment. A plurality of sensors may be coupled to the vehicle and controlled by a plurality of parameters. The vehicle may be configured to operate in an autonomous mode in which the computer system controls the vehicle in the autonomous mode based on data obtained by the plurality of sensors. The example embodiments also relate to obtaining perceived environment data that relates to the current state of the vehicle in the environment as perceived by at least one of the plurality of sensors, comparing the perceived environment data to the ground truth data, and adjusting one or more of the plurality of parameters based on the comparison.

公开(公告)号：US09766626B1

公开(公告)日：2017-09-19

申请号：US15161556

申请日：2016-05-23

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  David I. Ferguson

IPC: G08G1/16 ,  B60W30/095 ,  G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0088 ,  B60W30/0956 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S15/931 ,  G01S17/936 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9382 ,  G01S2013/9385 ,  G05D1/0248 ,  G05D1/0257 ,  G05D2201/0212 ,  G08G1/16 ,  G08G1/166

Abstract: Aspects of the invention relate generally to autonomous vehicles. The features described improve the safety, use, driver experience, and performance of these vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, the autonomous vehicle is capable of detecting nearby objects, such as vehicles and pedestrians, and is able to determine how the detected vehicles and pedestrians perceive their surroundings. The autonomous vehicle may then use this information to safely maneuver around all nearby objects.

公开(公告)号：US09709679B1

公开(公告)日：2017-07-18

申请号：US14452894

申请日：2014-08-06

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Andrew Hughes Chatham ,  Hendrik Dahlkamp ,  Michael Steven Montemerlo ,  Jiajun Zhu

IPC: G01C21/00 ,  G01S17/89

CPC classification number: G01S17/89 ,  G01C21/32 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0213 ,  G09B29/12

Abstract: Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.

公开(公告)号：US09703291B1

公开(公告)日：2017-07-11

申请号：US14986813

申请日：2016-01-04

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Dirk Haehnel

IPC: G08G1/123 ,  G05D1/02 ,  G05D1/00 ,  B60K31/00

CPC classification number: G05D1/0274 ,  B60K31/0008 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088 ,  G05D1/024 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/11 ,  G06T7/13 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may use a laser to collect scan data for a section of roadway. The vehicle may access a detailed map including the section of the roadway. A disturbance indicative of an object and including a set of data points data may be identified from the scan data based on the detailed map. The detailed map may also be used to estimate a heading of the disturbance. A bounding box for the disturbance may be estimated using the set of data points as well as the estimated heading. The parameters of the bounding box may then be adjusted in order to increase or maximize the average density of data points of the disturbance along the edges of the bounding box visible to the laser. This adjusted bounding box may then used to maneuver the vehicle.

公开(公告)号：US09679191B1

公开(公告)日：2017-06-13

申请号：US14792995

申请日：2015-07-07

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

IPC: G06K9/00 ,  G06T7/00 ,  G06T7/20 ,  B60R1/00

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

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.