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    Modifying a vehicle state based on the presence of a special-purpose vehicle
    81.
    发明授权
    Modifying a vehicle state based on the presence of a special-purpose vehicle 有权

    公开(公告)号：US11008008B1

    公开(公告)日：2021-05-18

    申请号：US16543901

    申请日：2019-08-19

    Applicant: Waymo LLC

    Inventor： David I. Ferguson

    IPC: B60W30/18 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G05D1/00 ,  G05D1/02

    Abstract: A method is provided that includes receiving user input identifying a travel destination for a first vehicle, determining, by a processor, a first route for the first vehicle to follow, and configuring the first vehicle to follow the first route. The method further includes obtaining a model for a second vehicle that shares a road with the first vehicle and comparing model to a pre-determined template for a vehicle that is known to be a special purpose vehicle in order to determine whether the first template and the second template match. The method further includes determining, by the processor, a second route that leads to the travel destination, when a match is found to exist, and switching the first vehicle from following the first route to following the second route.

    Actively Modifying a Field of View of an Autonomous Vehicle in view of Constraints
    83.
    发明申请
    Actively Modifying a Field of View of an Autonomous Vehicle in view of Constraints 审中-公开

    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

    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.

    Controlling a vehicle having inadequate map data
    85.
    再颁专利
    Controlling a vehicle having inadequate map data 有权

    公开(公告)号：USRE46982E1

    公开(公告)日：2018-08-07

    申请号：US15367115

    申请日：2016-12-01

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Dmitri Dolgov

    IPC: G01C22/00 ,  G05D1/02

    CPC classification number: G05D1/0212 ,  B62D15/0285 ,  G05D1/0274 ,  G05D2201/0213

    Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

    Controlling a vehicle having inadequate map data
    86.
    再颁专利
    Controlling a vehicle having inadequate map data 有权

    公开(公告)号：USRE46966E1

    公开(公告)日：2018-07-24

    申请号：US15367118

    申请日：2016-12-01

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Dmitri Dolgov

    IPC: G01C22/00 ,  G05D1/02

    CPC classification number: G05D1/0212 ,  B62D15/0285 ,  G05D1/0274 ,  G05D2201/0213

    Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

    Change detection using curve alignment
    88.
    发明授权
    Change detection using curve alignment 有权

    公开(公告)号：US09836052B1

    公开(公告)日：2017-12-05

    申请号：US15070425

    申请日：2016-03-15

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  David I. Ferguson

    IPC: G01C22/00 ,  G05D1/00

    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 feature. 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.

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