Patents by Inventor Dmitri Dolgov
Dmitri Dolgov 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: 20200159248Abstract: 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.Type: ApplicationFiled: January 27, 2020Publication date: May 21, 2020Inventors: Dmitri A. Dolgov, Christopher Paul Urmson
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Patent number: 10621451Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.Type: GrantFiled: August 23, 2017Date of Patent: April 14, 2020Assignee: Waymo LLCInventors: Vadim Furman, Andrew Hughes Chatham, Abhijit Ogale, Dmitri Dolgov
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Patent number: 10591919Abstract: Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.Type: GrantFiled: May 18, 2017Date of Patent: March 17, 2020Assignee: Waymo LLCInventors: Dmitri A. Dolgov, Christopher Paul Urmson
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Patent number: 10508986Abstract: 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.Type: GrantFiled: April 23, 2018Date of Patent: December 17, 2019Assignee: Waymo LLCInventors: Jiajun Zhu, David I. Ferguson, Dmitri A. Dolgov, Jonathan Baldwin Dowdall
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Publication number: 20190351897Abstract: 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.Type: ApplicationFiled: June 21, 2019Publication date: November 21, 2019Inventors: Jens-Steffen Ralf Gutmann, Andreas Wendel, Nathaniel Fairfield, Dmitri A. Dolgov, Donald Jason Burnette
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Patent number: 10377378Abstract: 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.Type: GrantFiled: April 20, 2018Date of Patent: August 13, 2019Assignee: WAYMO LLCInventors: Jens-Steffen Ralf Gutmann, Andreas Wendel, Nathaniel Fairfield, Dmitri A. Dolgov, Donald Jason Burnette
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Patent number: 10372129Abstract: A system and method are arranged to provide recommendations to a user of a vehicle. In one aspect, the vehicle navigates in an autonomous mode and the sensors provide information that is based on the location of the vehicle and output from sensors directed to the environment surrounding the vehicle. In further aspects, both current and previous sensor data is used to make the recommendations, as well as data based on the sensors of other vehicles.Type: GrantFiled: April 17, 2017Date of Patent: August 6, 2019Assignee: Waymo LLCInventors: Christopher Paul Urmson, Dmitri A. Dolgov, Andrew Hughes Chatham, Philip Nemec
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Patent number: 10345810Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.Type: GrantFiled: July 25, 2017Date of Patent: July 9, 2019Assignee: Waymo LLCInventors: Jiajun Zhu, Christopher Urmson, David I. Ferguson, Nathaniel Fairfield, Dmitri A. Dolgov
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Publication number: 20190193733Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.Type: ApplicationFiled: January 2, 2019Publication date: June 27, 2019Inventors: Jared Stephen Russell, Dmitri A. Dolgov, Nathaniel Fairfield, Laura Estelle Lindzey, Christopher Paul Urmson
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Publication number: 20190179052Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.Type: ApplicationFiled: February 15, 2019Publication date: June 13, 2019Inventors: Jiajun Zhu, Dmitri Dolgov, Dave Ferguson
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Patent number: 10247854Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.Type: GrantFiled: March 3, 2017Date of Patent: April 2, 2019Assignee: Waymo LLCInventors: Jiajun Zhu, Dmitri Dolgov, Dave Ferguson
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Patent number: 10202118Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.Type: GrantFiled: October 14, 2016Date of Patent: February 12, 2019Assignee: Waymo LLCInventors: Jared Stephen Russell, Dmitri A. Dolgov, Nathaniel Fairfield, Laura Estelle Lindzey, Christopher Paul Urmson
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Publication number: 20190019349Abstract: 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 be configured to provide information to a remote assistance operated based on a remote-assistance triggering criteria being met, such as determining that the autonomous vehicle has been stopped for a period of time. 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.Type: ApplicationFiled: September 14, 2017Publication date: January 17, 2019Inventors: Dmitri Dolgov, Joshua Herbach
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Patent number: 10168706Abstract: 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.Type: GrantFiled: November 29, 2017Date of Patent: January 1, 2019Assignee: Waymo LLCInventors: Dmitri A. Dolgov, Philip Nemec, Anne Christina Aula
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Publication number: 20180364734Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.Type: ApplicationFiled: August 23, 2018Publication date: December 20, 2018Inventors: David I. Ferguson, Dmitri Dolgov
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Publication number: 20180265082Abstract: 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.Type: ApplicationFiled: April 20, 2018Publication date: September 20, 2018Inventors: Jens-Steffen Ralf Gutmann, Andreas Wendel, Nathaniel Fairfield, Dmitri A. Dolgov, Donald Jason Burnette
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Patent number: 10059334Abstract: A method and apparatus are provided for determining one or more behavior models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the behavior models. The server may determine the behavior models according to a given object classification, actions of interest performed by the object, and the object's perceived surroundings.Type: GrantFiled: September 28, 2016Date of Patent: August 28, 2018Assignee: Waymo LLCInventors: Jiajun Zhu, David I. Ferguson, Dmitri A. Dolgov
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Patent number: RE46982Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.Type: GrantFiled: December 1, 2016Date of Patent: August 7, 2018Assignee: Waymo LLCInventors: David I. Ferguson, Dmitri Dolgov
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Patent number: RE47002Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.Type: GrantFiled: December 1, 2016Date of Patent: August 21, 2018Assignee: Waymo LLCInventors: David I. Ferguson, Dmitri Dolgov
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Patent number: RE47058Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.Type: GrantFiled: December 1, 2016Date of Patent: September 25, 2018Assignee: Waymo LLCInventors: David I. Ferguson, Dmitri Dolgov