Patents by Inventor Carl KERSHAW
Carl KERSHAW has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240092392Abstract: Aspects of the disclosure relate to detecting and responding to malfunctioning traffic signals for a vehicle having an autonomous driving mode. For instance, information identifying a detected state of a traffic signal for an intersection. An anomaly for the traffic signal may be detected based on the detected state and prestored information about expected states of the traffic signal. The vehicle may be controlled in the autonomous driving mode based on the detected anomaly.Type: ApplicationFiled: November 29, 2023Publication date: March 21, 2024Inventors: David Silver, Carl Kershaw, Jonathan Hsiao, Edward Hsiao
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Patent number: 11866068Abstract: Aspects of the disclosure relate to detecting and responding to malfunctioning traffic signals for a vehicle having an autonomous driving mode. For instance, information identifying a detected state of a traffic signal for an intersection. An anomaly for the traffic signal may be detected based on the detected state and prestored information about expected states of the traffic signal. The vehicle may be controlled in the autonomous driving mode based on the detected anomaly.Type: GrantFiled: June 19, 2020Date of Patent: January 9, 2024Assignee: Waymo LLCInventors: David Silver, Carl Kershaw, Jonathan Hsiao, Edward Hsiao
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Patent number: 11594044Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.Type: GrantFiled: June 10, 2020Date of Patent: February 28, 2023Assignee: Waymo LLCInventors: David Harrison Silver, Pankaj Chaudhari, Carl Kershaw
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Patent number: 11562573Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.Type: GrantFiled: December 16, 2020Date of Patent: January 24, 2023Assignee: Waymo LLCInventors: Victoria Dean, Abhijit S Ogale, Henrik Kretzschmar, David Harrison Silver, Carl Kershaw, Pankaj Chaudhari, Chen Wu, Congcong Li
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Patent number: 11226626Abstract: The technology relates to detecting a person directing traffic. For instance, a first vehicle may be controlled in an autonomous driving mode. Sensor data is received from a perception system of the first vehicle, the sensor data identifying a person. Behavior of the person is observed using the sensor data. The observed behavior of the person and the observed behavior of a second vehicle are used to determine a likelihood value indicative of whether the person is directing traffic. The first vehicle is maneuvered in the autonomous driving mode based on the determined likelihood value.Type: GrantFiled: December 13, 2019Date of Patent: January 18, 2022Assignee: Waymo LLCInventors: David Harrison Silver, Carl Kershaw, Pankaj Chaudhari
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Publication number: 20210397827Abstract: Aspects of the disclosure relate to detecting and responding to malfunctioning traffic signals for a vehicle having an autonomous driving mode. For instance, information identifying a detected state of a traffic signal for an intersection. An anomaly for the traffic signal may be detected based on the detected state and prestored information about expected states of the traffic signal. The vehicle may be controlled in the autonomous driving mode based on the detected anomaly.Type: ApplicationFiled: June 19, 2020Publication date: December 23, 2021Inventors: David Silver, Carl Kershaw, Jonathan Hsiao, Edward Hsiao
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Publication number: 20210192238Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.Type: ApplicationFiled: December 16, 2020Publication date: June 24, 2021Applicant: WAYMO LLCInventors: Victoria Dean, Abhijit S. Ogale, Henrik Kretzschmar, David Harrison Silver, Carl Kershaw, Pankaj Chaudhari, Chen Wu, Congcong Li
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Patent number: 10902272Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.Type: GrantFiled: May 20, 2020Date of Patent: January 26, 2021Assignee: WAYMO LLCInventors: Victoria Dean, Abhijit S. Ogale, Henrik Kretzschmar, David Harrison Silver, Carl Kershaw, Pankaj Chaudhari, Chen Wu, Congcong Li
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Publication number: 20200364473Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.Type: ApplicationFiled: June 10, 2020Publication date: November 19, 2020Inventors: David Harrison Silver, Pankaj Chaudhari, Carl Kershaw
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Patent number: 10838065Abstract: Autonomous vehicles require precise localization to support safe and reliable operation. Current systems aim to localize in 6DOF based on observations from a combination of cameras and 3D LiDAR, matching against dense, 3D prior maps. These maps are quite large and complex, presenting both computational and physical challenges in terms of matching, storage, and retrieval. Most of the environments where vehicles operate in contain frequent and distinct vertical structure sufficient for 2D localization, while state-of-the-art IMUs can be used to recover roll and pitch. This disclosure introduces a fast method for constructing 2D maps summarizing the vertical structure in the environment and demonstrate that it can be used to localize accurately in vehicular and other applications.Type: GrantFiled: January 26, 2018Date of Patent: November 17, 2020Assignee: THE REGENTS OF THE UNIVERSITY OF MICHIGANInventors: Edwin Olson, Carl Kershaw
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Publication number: 20200356794Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.Type: ApplicationFiled: May 20, 2020Publication date: November 12, 2020Inventors: Victoria Dean, Abhijit S. Ogale, Henrik Kretzschmar, David Harrison Silver, Carl Kershaw, Pankaj Chaudhari, Chen Wu, Congcong Li
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Patent number: 10713510Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.Type: GrantFiled: December 29, 2017Date of Patent: July 14, 2020Assignee: Waymo LLCInventors: David Harrison Silver, Pankaj Chaudhari, Carl Kershaw
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Patent number: 10699141Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.Type: GrantFiled: June 26, 2018Date of Patent: June 30, 2020Assignee: Waymo LLCInventors: Victoria Dean, Abhijit S. Ogale, Henrik Kretzschmar, David Harrison Silver, Carl Kershaw, Pankaj Chaudhari, Chen Wu, Congcong Li
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Patent number: 10539959Abstract: The technology relates to detecting a person directing traffic. For instance, a first vehicle may be controlled in an autonomous driving mode. Sensor data is received from a perception system of the first vehicle, the sensor data identifying a person. Behavior of the person is observed using the sensor data. The observed behavior of the person and the observed behavior of a second vehicle are used to determine a likelihood value indicative of whether the person is directing traffic. The first vehicle is maneuvered in the autonomous driving mode based on the determined likelihood value.Type: GrantFiled: October 31, 2017Date of Patent: January 21, 2020Assignee: Waymo LLCInventors: David Harrison Silver, Carl Kershaw, Pankaj Chaudhari
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Publication number: 20190392231Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.Type: ApplicationFiled: June 26, 2018Publication date: December 26, 2019Inventors: Victoria Dean, Abhijit S. Ogale, Henrik Kretzschmar, David Harrison Silver, Carl Kershaw, Pankaj Chaudhari, Chen Wu, Congcong Li
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Publication number: 20190205674Abstract: Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle's computing devices identifies a speed limit sign in a vehicle's environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle's computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.Type: ApplicationFiled: December 29, 2017Publication date: July 4, 2019Inventors: David Harrison Silver, Pankaj Chaudhari, Carl Kershaw
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Publication number: 20180210087Abstract: Autonomous vehicles require precise localization to support safe and reliable operation. Current systems aim to localize in 6DOF based on observations from a combination of cameras and 3D LiDAR, matching against dense, 3D prior maps. These maps are quite large and complex, presenting both computational and physical challenges in terms of matching, storage, and retrieval. Most of the environments where vehicles operate in contain frequent and distinct vertical structure sufficient for 2D localization, while state-of-the-art IMUs can be used to recover roll and pitch. This disclosure introduces a fast method for constructing 2D maps summarizing the vertical structure in the environment and demonstrate that it can be used to localize accurately in vehicular and other applications.Type: ApplicationFiled: January 26, 2018Publication date: July 26, 2018Inventors: Edwin OLSON, Carl KERSHAW