The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 10, 2023
Filed:
May. 26, 2021
Applicant:
Waymo Llc, Mountain View, CA (US);
Inventors:
Jared Stephen Russell, San Francisco, CA (US);
Kai Ding, Santa Clara, CA (US);
Assignee:
Waymo LLC, Mountain View, CA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G06V 40/10 (2022.01); B60W 30/09 (2012.01); G08G 1/16 (2006.01); G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06V 20/58 (2022.01); B60W 30/095 (2012.01);
U.S. Cl.
CPC ...
G06V 40/10 (2022.01); B60W 30/0956 (2013.01); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0276 (2013.01); G06V 20/58 (2022.01); G06V 40/103 (2022.01); G08G 1/166 (2013.01); G05D 2201/0213 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30261 (2013.01);
Abstract
The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.