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:
Jul. 21, 2026
Filed:
Sep. 06, 2023
Waymo Llc, Mountain View, CA (US);
Hang Yan, Sunnyvale, CA (US);
Zhengyu Zhang, San Jose, CA (US);
Yan Wang, Sunnyvale, CA (US);
Jingxiao Zheng, San Jose, CA (US);
Dmitry Kalenichenko, Marina Del Ray, CA (US);
Vasiliy Igorevich Karasev, San Francisco, CA (US);
Alper Ayvaci, San Jose, CA (US);
Xu Chen, Livermore, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
A method includes obtaining, by a processing device, input data derived from a set of sensors of an autonomous vehicle (AV), generating, by the processing device using a set of lane detection classifier heads, at least one heatmap based on a fused bird's eye view (BEV) feature generated from the input data, obtaining, by the processing device, a set of polylines using the at least one heatmap, wherein each polyline of the set of polylines corresponds to a respective track of a first set of tracks for a first frame, and generating, by the processing device, a second set of tracks for a second frame after the first frame by using a statistical filter based on a set of extrapolated tracks for the second frame and a set of track measurements for the second frame, wherein each track measurement of the set of track measurements corresponds to a respective updated polyline obtained for the second frame.