公开(公告)号：US12228928B1

公开(公告)日：2025-02-18

申请号：US18220628

申请日：2023-07-11

Applicant: WAYMO LLC

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

IPC: G06K9/00 ,  B60R1/00 ,  B60T7/22 ,  B60T8/00 ,  B60T8/17 ,  B60T8/88 ,  B60T17/18 ,  B60T17/22 ,  B60W30/08 ,  B60W40/06 ,  B60W50/14 ,  G01C21/36 ,  G01S17/86 ,  G01S17/931 ,  G05D1/00 ,  G06Q10/02 ,  G06Q30/02 ,  G06Q30/0207 ,  G06Q40/08 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T7/521 ,  G06T7/73 ,  G06V20/58 ,  G06V20/64 ,  G07C9/00 ,  B60W30/186 ,  B60W50/029 ,  B62D6/00 ,  G01S13/86 ,  G06V10/20 ,  G06V20/56

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.

公开(公告)号：US11726493B2

公开(公告)日：2023-08-15

申请号：US17512770

申请日：2021-10-28

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02 ,  B60W30/18 ,  B60W50/00

CPC classification number: G05D1/0274 ,  G05D1/0248 ,  G05D1/0257 ,  G05D1/0276 ,  B60W30/18154 ,  B60W2050/0095 ,  B60W2555/20 ,  G05D2201/0213

Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.

公开(公告)号：US10768619B1

公开(公告)日：2020-09-08

申请号：US16134313

申请日：2018-09-18

Applicant: Waymo LLC

Inventor： Andrew Timothy Szybalski ,  Luis Ricardo Prada Gomez ,  Christopher Paul Urmson ,  Sebastian Thrun ,  Philip Nemec

IPC: G05D1/00 ,  B60W50/14 ,  G06F3/0481

Abstract: A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle.

公开(公告)号：US10093324B1

公开(公告)日：2018-10-09

申请号：US15404556

申请日：2017-01-12

Applicant: Waymo LLC

Inventor： Andrew Timothy Szybalski ,  Luis Ricardo Prada Gomez ,  Philip Nemec ,  Christopher Paul Urmson ,  Sebastian Thrun

IPC: B60W50/14 ,  G01C21/36

Abstract: Autonomous vehicles use various computing systems to transport passengers from one location to another. A control computer sends messages to the various systems of the vehicle in order to maneuver the vehicle safely to the destination. The control computer may display information on an electronic display in order to allow the passenger to understand what actions the vehicle may be taking in the immediate future. Various icons and images may be used to provide this information to the passenger.

公开(公告)号：US11872998B1

公开(公告)日：2024-01-16

申请号：US17982892

申请日：2022-11-08

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: B60W50/02 ,  B60R1/00 ,  H04N7/18 ,  G06V10/98 ,  B60W50/14 ,  G06V20/56 ,  G08G1/16 ,  B60W50/00

CPC classification number: B60W50/0205 ,  B60R1/00 ,  B60W50/14 ,  G06V10/98 ,  G06V20/56 ,  G08G1/166 ,  H04N7/181 ,  B60R2300/8093 ,  B60W2050/0043 ,  B60W2050/0215 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2420/52

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.

公开(公告)号：US11852492B1

公开(公告)日：2023-12-26

申请号：US17075867

申请日：2020-10-21

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Michael Steven Montemerlo ,  Andrew Hughes Chatham ,  Daniel Trawick Egnor

IPC: B60W30/12 ,  G01C21/34 ,  B60W30/18 ,  G01C21/28 ,  G05D1/00 ,  G05D1/02

CPC classification number: G01C21/3407 ,  B60W30/12 ,  B60W30/18154 ,  G01C21/28 ,  G01C21/34 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0278 ,  B60W2552/05 ,  B60W2556/50

Abstract: An autonomous vehicle may access portions of a map to maneuver a roadway. The map may be split into one or more levels that represent different regions in space. For example, an overpass may be represented by one level while the road below the overpass may be on a separate level. A vehicle traveling on a particular level may use map data that is associated with that level. Furthermore, if the vehicle travels through a warp zone, it may transition from the current level to a destination level and thus begin to use map data associated with the destination level.

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：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.

公开(公告)号：US10293838B1

公开(公告)日：2019-05-21

申请号：US15602446

申请日：2017-05-23

Applicant: Waymo LLC

Inventor： Andrew Timothy Szybalski ,  Luis Ricardo Prada Gomez ,  Philip Nemec ,  Christopher Paul Urmson ,  Sebastian Thrun

IPC: B60W50/14 ,  G01C21/36

Abstract: Autonomous vehicles use various computing systems to transport passengers from one location to another. A control computer sends messages to the various systems of the vehicle in order to maneuver the vehicle safely to the destination. The control computer may display information on an electronic display in order to allow the passenger to understand what actions the vehicle may be taking in the immediate future. Various icons and images may be used to provide this information to the passenger.