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公开(公告)号：US11807235B1
公开(公告)日：2023-11-07
申请号：US17239719
申请日：2021-04-26
Applicant: Waymo LLC
Inventor： David I. Ferguson , Dmitri A. Dolgov
CPC classification number: B60W30/143 , B60T7/042 , B60T7/22 , B60W30/14 , B60W30/146 , B60W50/085 , G05D1/0088 , B60L2240/00 , B60L2240/10 , B60L2240/12 , B60L2240/14 , B60L2240/16 , B60W2520/10 , B60W2552/05 , B60W2554/4041 , B60W2554/804
Abstract: Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.
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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
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.
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公开(公告)号：USRE49650E1
公开(公告)日：2023-09-12
申请号：US17138339
申请日：2020-12-30
Applicant: WAYMO LLC
Inventor： Jiajun Zhu , David I. Ferguson , Dmitri A. Dolgov
CPC classification number: B60W30/00 , B60W30/12 , B60W30/16 , G01C21/34 , G05D1/02 , B60W2050/0095 , B60W2554/80 , B60W2556/50
Abstract: Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.
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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
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.
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公开(公告)号：US20180265082A1
公开(公告)日：2018-09-20
申请号：US15958365
申请日：2018-04-20
Applicant: Waymo LLC
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
IPC: B60W30/09 , G08G1/0967 , G08G1/0962
CPC classification number: B60W30/09 , B60W30/18154 , B60W2550/22 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/096783 , G08G1/096791
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.
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Patent Agency Ranking
公开(公告)号：US09958379B1
公开(公告)日：2018-05-01
申请号：US14955186
申请日：2015-12-01
Applicant: Waymo LLC
Inventor： Jiajun Zhu , David I. Ferguson , Dmitri A. Dolgov , Jonathan Baldwin Dowdall
CPC classification number: G01N21/27 , F16L55/00 , G01C3/08 , G01S7/4808 , G01S7/497 , G01S17/023 , G01S17/08 , G01S17/10 , G01S17/42 , G01S17/89 , G01S17/936 , 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.
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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
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.
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公开(公告)号：US11656623B1
公开(公告)日：2023-05-23
申请号：US17346544
申请日：2021-06-14
Applicant: Waymo LLC
Inventor： Dmitri A. Dolgov , Philip Nemec , Anne Aula
CPC classification number: G05D1/021 , B60W30/16 , B62D15/025 , B62D15/0255 , G05D1/00 , G05D1/0055 , G05D1/0287 , B60W2554/80 , B60W2554/801 , B60W2754/30
Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.
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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.
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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.
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