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71. 发明专利

SG11202000237YA METHODS AND SYSTEMS FOR PROVIDING REMOTE ASSISTANCE TO A VEHICLE 未知
公开(公告)号：SG11202000237YA
公开(公告)日：2020-02-27
申请号：SG11202000237Y
申请日：2018-06-18
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , DOLGOV DMITRI , HERBACH JOSHUA
IPC分类号： B60W30/14 , B60W30/18 , B60W40/02 , G05D1/00
摘要： Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating in a rewind mode. In the rewind mode, the system may beconfigured to provide information to a remote assistance operated based on a remote-assistance triggering criteria being met. When the triggering criteria is met, the remote assistance system may provide data from the time leading up to when the remote-assistance triggering criteria was met that was capture of the environment of autonomous vehicle to the remote assistance operator. Based on viewing the data, the remote assistance operator may provide and input to the system that causes a command to be issued to the autonomous vehicle.

72. 发明专利

IL271568D0 Rare instance classifiers 未知
公开(公告)号：IL271568D0
公开(公告)日：2020-02-27
申请号：IL27156819
申请日：2019-12-19
申请人： WAYMO LLC
IPC分类号： G06K20060101
摘要： In some implementations, an image classification system of an autonomous or semi-autonomous vehicle is capable of improving multi-object classification by reducing repeated incorrect classification of objects that are considered rarely occurring objects. The system can include a common instance classifier that is trained to identify and recognize general objects (e.g., commonly occurring objects and rarely occurring objects) as belonging to specified object categories, and a rare instance classifier that is trained to compute one or more rarity scores representing likelihoods that an input image is correctly classified by the common instance classifier. The output of the rare instance classifier can be used to adjust the classification output of the common instance classifier such that the likelihood of input images being incorrectly classified is reduced.

73. 发明专利

AU2018324342A1 Arranging stop locations for autonomous vehicles 未知
公开(公告)号：AU2018324342A1
公开(公告)日：2020-02-27
申请号：AU2018324342
申请日：2018-07-12
申请人： WAYMO LLC
发明人： PANDIT SALIL , PATEL NIRMAL , GUNEY TACETTIN DOGACAN , RAWLINGS KEVIN , FEENSTRA LAURENS ANDREAS
IPC分类号： G06Q50/30 , G06Q50/10
摘要： Aspects of the disclosure relate to arranging a stopping location for a driverless vehicle. As an example, a method of doing so may include receiving a request for a vehicle (101, 101 A) from a client computing device (120, 130), wherein the request identifies a first location. Pre-stored map information and the first location are used to identify a recommended point according to a set of heuristics. Each heuristic of the set of heuristics has a ranking such that the recommended point corresponds to a location that satisfies at least one of the heuristics having a first rank and such that no other location satisfies any other heuristic of the set of heuristics having a higher rank than the first rank. The recommended point is then provided the client computing device and used to dispatch a vehicle to the stop location.

74. 发明专利

AU2018323983A1 Identifying unassigned passengers for autonomous vehicles 未知
公开(公告)号：AU2018323983A1
公开(公告)日：2020-02-27
申请号：AU2018323983
申请日：2018-08-29
申请人： WAYMO LLC
发明人： DYER JOHN WESLEY , TORRES LUIS , CHEN YU-HSIN , EPSTEIN MICHAEL
IPC分类号： B60W40/08 , B60W30/14 , B60W40/105 , B60W50/08 , G05D1/00 , G05D1/02
摘要： Aspects of the disclosure provide systems and methods for confirming the identity of a passenger and changing destination of a vehicle 100. This may include receiving dispatching instructions to pick up a first passenger at a pickup location and to drop off the first passenger at a first destination as well as authentication information for authenticating a first client computing device of the first passenger. Once the client device is authenticated and a second passenger enters the vehicle, the vehicle is maneuvered towards the first destination. While doing so, a location of the vehicle is compared to location information received from the client computing device. A notification is sent to a dispatching server based on the comparison and a second destination location is received in response. The vehicle is then maneuvered towards the second destination instead of the first destination.

75. 发明专利

CA2981944C LONG RANGE STEERABLE LIDAR SYSTEM 未知
公开(公告)号：CA2981944C
公开(公告)日：2020-02-25
申请号：CA2981944
申请日：2016-03-09
申请人： WAYMO LLC
发明人： DROZ PIERRE-YVES , PENNECOT GAETAN , LEVANDOWSKI ANTHONY , ULRICH DREW EUGENE , MORRISS ZACH , WACHTER LUKE , IORDACHE DOREL IONUT , MCCANN WILLIAM , GRUVER DANIEL , FIDRIC BERNARD , LENIUS SAMUEL WILLIAM
IPC分类号： G01S17/89 , G01S7/481
摘要： Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

76. 发明专利

AU2018321472A1 Context aware stopping for autonomous vehicles 未知
公开(公告)号：AU2018321472A1
公开(公告)日：2020-02-13
申请号：AU2018321472
申请日：2018-08-21
申请人： WAYMO LLC
发明人： DYER JOHN WESLEY , TORRES LUIS , EPSTEIN MICHAEL , DUPRE GUILLAUME , HERBACH JOSHUA SETH
IPC分类号： G05D1/02
摘要： Aspects of the present disclosure relate to context aware stopping of a vehicle 100 without a driver. As an example, after a passenger has entered the vehicle, the vehicle is maneuvered by one or more processors 120 in an autonomous driving mode towards a destination location along a route. The route is divided into two or more stages. A signal is received by the one or more processors. The signal indicates that the passenger is requesting that the vehicle stop or pull over. In response to the signal, the one or more processors determine a current stage of the route based on a current distance of the vehicle from a pickup location where the passenger entered the vehicle or a current distance of the vehicle from the destination location. The one or more processors then stop the vehicle in accordance with the determined current stage.

77. 发明专利

SG11201911947TA METHODS AND SYSTEMS FOR VEHICLE OCCUPANCY CONFIRMATION 未知
公开(公告)号：SG11201911947TA
公开(公告)日：2020-01-30
申请号：SG11201911947T
申请日：2018-06-27
申请人： WAYMO LLC
发明人： HERBACH JOSHUA
IPC分类号： B60R11/04 , B60W30/14 , B60R21/015 , B60W40/08 , B60W50/14
摘要： Example implementations relate to vehicle occupancy confirmation. An example implementation involves receiving, at a computing system from a camera positioned inside a vehicle, an image representing an occupancy within the vehicle. The implementation further involves, responsive to receiving the image, displaying the image on a display interface, and receiving an operator input confirming the occupancy meets a desired occupancy. The implementation additionally includes transmitting an occupancy confirmation from the computing system to the vehicle. In some instances, in response to receiving the occupancy confirmation, the vehicle executes an autonomous driving operation.

78. 发明专利

AU2019284146A1 Testing predictions for autonomous vehicles 未知
公开(公告)号：AU2019284146A1
公开(公告)日：2020-01-30
申请号：AU2019284146
申请日：2019-12-30
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FURMAN VADIM
IPC分类号： B60W30/14 , B60W50/00 , G05D1/00 , G05D1/02
摘要： TESTING PREDICTIONS FOR AUTONOMOUS VEHICLES Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors 120 may plan to maneuver a first vehicle 100 autonomously to complete an action and predict that a second vehicle 680, 780, 880 will take a responsive action. The first vehicle is maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

79. 发明专利

AU2018288720A1 Rare instance classifiers 未知
公开(公告)号：AU2018288720A1
公开(公告)日：2020-01-23
申请号：AU2018288720
申请日：2018-06-19
申请人： WAYMO LLC
发明人： LO WAN-YEN , OGALE ABHIJIT , GAO YANG
IPC分类号： G06N3/04 , G06K9/00 , G06N3/08
摘要： In some implementations, an image classification system of an autonomous or semi-autonomous vehicle is capable of improving multi-object classification by reducing repeated incorrect classification of objects that are considered rarely occurring objects. The system can include a common instance classifier that is trained to identify and recognize general objects (e.g., commonly occurring objects and rarely occurring objects) as belonging to specified object categories, and a rare instance classifier that is trained to compute one or more rarity scores representing likelihoods that an input image is correctly classified by the common instance classifier. The output of the rare instance classifier can be used to adjust the classification output of the common instance classifier such that the likelihood of input images being incorrectly classified is reduced.

80. 发明专利

AU2018219084A1 Using wheel orientation to determine future heading 未知
公开(公告)号：AU2018219084A1
公开(公告)日：2019-09-19
申请号：AU2018219084
申请日：2018-01-31
申请人： WAYMO LLC
发明人： GUTMANN JENS-STEFFEN RALF
IPC分类号： G01S13/93 , B60W30/095 , G01S15/93 , G01S17/93 , G06K9/00 , G08G1/16
摘要： The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box (420) representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box (420), an area (610) corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area (610) by fitting the sensor data points within the area (610) to a plane (710). The estimation may then be used to determine a future heading of the object.

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