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    Actively Modifying a Field of View of an Autonomous Vehicle in View of Constraints
    3.
    发明公开
    Actively Modifying a Field of View of an Autonomous Vehicle in View of Constraints 审中-公开

    公开(公告)号：US20240045438A1

    公开(公告)日：2024-02-08

    申请号：US18490520

    申请日：2023-10-19

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Jiajun Zhu

    IPC: G05D1/02 ,  G08G1/16 ,  B60R1/00

    CPC classification number: G05D1/0231 ,  G05D1/0214 ,  G08G1/167 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307

    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.

    Actively Modifying a Field of View of an Autonomous Vehicle in view of Constraints
    6.
    发明申请
    Actively Modifying a Field of View of an Autonomous Vehicle in view of Constraints 有权

    公开(公告)号：US20230075786A1

    公开(公告)日：2023-03-09

    申请号：US18049134

    申请日：2022-10-24

    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.

    Change detection using curve alignment
    8.
    发明授权
    Change detection using curve alignment 有权

    公开(公告)号：US11327493B1

    公开(公告)日：2022-05-10

    申请号：US16815204

    申请日：2020-03-11

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  David I. Ferguson

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

    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.

    Determining the stationary state of detected vehicles
    9.
    发明授权
    Determining the stationary state of detected vehicles 有权

    公开(公告)号：US11216002B1

    公开(公告)日：2022-01-04

    申请号：US16185284

    申请日：2019-03-06

    Applicant: Waymo LLC

    Inventor： David Harrison Silver ,  David I. Ferguson

    IPC: G05D1/02 ,  B60W30/18 ,  G08G1/0967 ,  G06K9/00 ,  G08G1/0962 ,  G08G1/01 ,  G05D1/00 ,  G08G1/16 ,  B60W50/00 ,  B60W30/00

    Abstract: Aspects of the disclosure relate to an autonomous vehicle that may detect other nearby vehicles and designate stationary vehicles as being in one of a short-term stationary state or a long-term stationary state. This determination may be made based on various indicia, including visible indicia displayed by the detected vehicle and traffic control factors relating to the detected vehicle. For example, the autonomous vehicle may identify a detected vehicle as being in a long-term stationary state based on detection of hazard lights being displayed by the detected vehicle, as well as the absence of brake lights being displayed by the detected vehicle. The autonomous vehicle may then base its control strategy on the stationary state of the detected vehicle.

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