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    Actively modifying a field of view of an autonomous vehicle in view of constraints
    1.
    发明授权
    Actively modifying a field of view of an autonomous vehicle in view of constraints 有权

    公开(公告)号：US12230140B2

    公开(公告)日：2025-02-18

    申请号：US18490520

    申请日：2023-10-19

    Applicant: Waymo LLC

    Inventor： David I. Ferguson ,  Jiajun Zhu

    IPC: G08G1/16 ,  G05D1/00 ,  G05D1/24 ,  G05D1/243 ,  G05D1/43 ,  G06V20/56

    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.

    Characterizing optically reflective features via hyper-spectral sensor
    3.
    发明授权
    Characterizing optically reflective features via hyper-spectral sensor 有权

    公开(公告)号：US11802831B1

    公开(公告)日：2023-10-31

    申请号：US16677271

    申请日：2019-11-07

    Applicant: Waymo LLC

    Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov ,  Jonathan Baldwin Dowdall

    IPC: G01N21/27 ,  G01S17/08 ,  G05D1/00

    CPC classification number: G01N21/27 ,  G01S17/08 ,  G05D1/0088

    Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.

    Methods and systems for detecting weather conditions using vehicle onboard sensors
    5.
    发明授权
    Methods and systems for detecting weather conditions using vehicle onboard sensors 有权

    公开(公告)号：US11487046B2

    公开(公告)日：2022-11-01

    申请号：US16277436

    申请日：2019-02-15

    Applicant: Waymo LLC

    Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

    IPC: G01W1/00 ,  G05D1/00 ,  G01N21/47 ,  G01S17/87 ,  H04N7/18 ,  G05D1/02 ,  G01W1/14 ,  G01S17/86

    Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.

    Use of a Reference Image to Detect a Road Obstacle
    7.
    发明申请
    Use of a Reference Image to Detect a Road Obstacle 有权

    公开(公告)号：US20210356970A1

    公开(公告)日：2021-11-18

    申请号：US17391778

    申请日：2021-08-02

    Applicant: Waymo LLC

    Inventor： David Ian Ferguson ,  Jiajun Zhu

    IPC: G05D1/02 ,  G06K9/00 ,  G06T7/00

    Abstract: Methods and systems for use of a reference image to detect a road obstacle are described. A computing device configured to control a vehicle, may be configured to receive, from an image-capture device, an image of a road on which the vehicle is travelling. The computing device may be configured to compare the image to a reference image; and identify a difference between the image and the reference image. Further, the computing device may be configured to determine a level of confidence for identification of the difference. Based on the difference and the level of confidence, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

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