Patent SG-11201900246T-A (SG)
Title: Determining drivability of objects for autonomous vehicles
Inventor: FERGUSON DAVID
IPC: G05D1/02
Filed: 2017-07-20
Abstract: 12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 01 February 2018 (01.02.2018) WIP0 I PCT °mons °nolo omolommmolionoiflo ois (10) International Publication Number WO 2018/022409 Al (51) International Patent Classification: B60W 30/14 (2006.01) G05D 1/02 (2006.01) B60W 30/08 (2006.01) GO5D 1/00 (2006.01) (21) International Application Number: PCT/US2017/043007 (22) International Filing Date: 20 July 2017 (20.07.2017) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 62/366,885 26 July 2016 (26.07.2016) US 15/292,818 13 October 2016 (13.10.2016) US (71) Applicant: WAYMO LLC [US/US]; 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). (72) Inventors: FERGUSON, David, Ian, Franklin; 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). WENDEL, Andreas; 1600 Amphitheatre Parkway, Moun- tain View, CA 94043 (US). XU, Zhinan; 1600 Amphithe- atre Parkway, Mountain View, CA 94043 (US). SILVER, David, Harrison; 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). LUDERS, Brandon, Douglas; 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). (74) Agent: CACCIABEVE, Noelle, L. et al.; Lerner, David, Littenberg, Krumholz & Mentlik, LLP, 600 South Avenue West, Westfied, NJ 07090 (US). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, (54) Title: DETERMINING DRIVABILITY OF OBJECTS FOR AUTONOMOUS VEHICLES (57) : Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle 100. The set of objects is filtered to remove objects corre- sponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The ob- 660 680 ject is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle. 686 -- 670 650 614 622 620 - 682 -- 640 W O 20 18/0 22409 Al 684 IIIIIIIII I- 610 630 630 612 600 FIGURE 6 604 111 652 632 [Continued on next page] WO 2018/022409 Al IMEDIMOMMIDIRE10101011010HOEMOIEHOMEMNIE TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Declarations under Rule 4.17: as to applicant's entitlement to apply for and be granted a patent (Rule 4.17(11)) as to the applicant's entitlement to claim the priority of the earlier application (Rule 4.17(iii)) Published: — with international search report (Art. 21(3))