公开(公告)号：US11938967B2

公开(公告)日：2024-03-26

申请号：US17215574

申请日：2021-03-29

Applicant: Waymo LLC

Inventor： Benjamin Charrow ,  Nathaniel Fairfield

IPC: B60W30/18 ,  B60W60/00 ,  G08G1/16 ,  G06V20/56

CPC classification number: B60W60/0016 ,  B60W30/18154 ,  G08G1/166 ,  G08G1/167 ,  B60W2420/403 ,  B60W2420/52 ,  B60W2420/54 ,  B60W2552/53 ,  B60W2554/60 ,  B60W2554/80 ,  B60W2554/802 ,  B60W2556/40 ,  G05D2201/0213 ,  G06V20/588

Abstract: The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.

公开(公告)号：US20230386338A1

公开(公告)日：2023-11-30

申请号：US18364808

申请日：2023-08-03

Applicant: Waymo LLC

Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach ,  Andrew Hughes Chatham ,  Michael Steven Montemerlo

IPC: G08G1/16 ,  G08G1/00 ,  G08G1/0967 ,  G08G1/01 ,  B60W30/00 ,  G05D1/00 ,  G05D1/02

CPC classification number: G08G1/161 ,  G08G1/22 ,  G08G1/096741 ,  G08G1/096725 ,  G08G1/0112 ,  G08G1/096775 ,  B60W30/00 ,  G05D1/0088 ,  G05D1/0287 ,  B60W2050/0075

Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.

公开(公告)号：US20230339469A1

公开(公告)日：2023-10-26

申请号：US18218290

申请日：2023-07-05

Applicant: Waymo LLC

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

IPC: B60W30/18 ,  G06V20/56 ,  G06V20/58 ,  G05D1/02 ,  G05D1/00

CPC classification number: B60W30/18154 ,  G06V20/56 ,  G06V20/582 ,  G06V20/584 ,  G05D1/0231 ,  G05D1/0088 ,  B60W2555/60 ,  B60W2556/50

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.

公开(公告)号：US11698643B2

公开(公告)日：2023-07-11

申请号：US17571108

申请日：2022-01-07

Applicant: Waymo LLC

Inventor： Nathaniel Fairfield ,  Joshua Herbach

IPC: G05D1/02 ,  G05D1/00 ,  B60W30/182 ,  H04L67/12

CPC classification number: G05D1/0285 ,  B60W30/182 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0038 ,  B60W2554/00 ,  B60W2556/65 ,  B60W2900/00 ,  G05D1/0088 ,  H04L67/12

Abstract: Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating by default in a first mode and periodically transitioning from operation in the first mode to operation in a second mode. In the first mode, the system may receive environment data provided by the vehicle and representing object(s) having a detection confidence below a threshold, where the detection confidence is indicative of a likelihood of correct identification of the object(s), and responsive to the object(s) having a confidence below the threshold, provide remote assistance data comprising an instruction to control the vehicle and/or a correct identification of the object(s). In the second mode, the system may trigger user interface display of remote assistor alertness data based on pre-stored data related to an environment in which the pre-stored data was acquired, and receive a response relating to the alertness data.

公开(公告)号：US11645189B2

公开(公告)日：2023-05-09

申请号：US17517207

申请日：2021-11-02

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36 ,  G05D1/00

CPC classification number: G06F11/3608 ,  G06F11/3688 ,  G05D1/0088

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US20220138890A1

公开(公告)日：2022-05-05

申请号：US17528595

申请日：2021-11-17

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Peter Colijn ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Salil Pandit ,  Nirmal Patel ,  Ryan Powell ,  Min Li Chan

IPC: G06Q50/30 ,  G06Q10/06 ,  G08G1/00 ,  G08G1/123 ,  G01C21/36 ,  G08G1/005 ,  G05D1/00 ,  B60W60/00 ,  G01C21/34

Abstract: The technology relates to facilitating transportation services between a user and a vehicle having an autonomous driving mode. For instance, one or more server computing devices having one or more processors may information identifying the current location of the vehicle. The one or more server computing devices may determine that the user is likely to want to take a trip to a particular destination based on prior location history for the user. The one or more server computing devices may dispatch the vehicle to cause the vehicle to travel in the autonomous driving mode towards a location of the user. In addition, after dispatching, the one or more server computing devices sending a notification to a client computing device associated with the user indicating that the vehicle is currently available to take the passenger to the particular destination.

公开(公告)号：US20220128681A1

公开(公告)日：2022-04-28

申请号：US17570466

申请日：2022-01-07

Applicant: Waymo LLC

Inventor： Brandon Douglas Luders ,  Tim Campbell ,  Nathaniel Fairfield

IPC: G01S13/86 ,  G01S17/10 ,  G01S17/42 ,  G01S17/87 ,  G01S13/87 ,  G01S17/04 ,  G01S17/86 ,  G01S17/931 ,  G01S7/40 ,  G01S7/497 ,  G01S13/04 ,  G01S13/931

Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

公开(公告)号：US11279346B2

公开(公告)日：2022-03-22

申请号：US16448230

申请日：2019-06-21

Applicant: WAYMO LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Andreas Wendel ,  Nathaniel Fairfield ,  Dmitri A. Dolgov ,  Donald Jason Burnette

IPC: B60W30/09 ,  G08G1/0962 ,  G08G1/0967 ,  B60W30/18

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

公开(公告)号：US20210276554A1

公开(公告)日：2021-09-09

申请号：US17232680

申请日：2021-04-16

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G01C21/34 ,  G05D1/00

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US11106893B1

公开(公告)日：2021-08-31

申请号：US16692643

申请日：2019-11-22

Applicant: WAYMO LLC

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

IPC: G06K9/00 ,  B60T8/00 ,  B60W30/08 ,  B60R1/00 ,  B60T17/18 ,  B60T17/22 ,  G06T7/223 ,  G05D1/00 ,  G06T7/20 ,  G01S17/86 ,  G01C21/36 ,  G01S17/931 ,  B60T8/88 ,  G05D1/02 ,  G06T7/231 ,  B60T7/22 ,  G06T7/73 ,  G06T7/521 ,  B60T8/17 ,  B62D6/00 ,  G06K9/32 ,  G01S13/86 ,  B60W50/029 ,  B60W30/186

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.