US 11,673,581 B2
Puddle occupancy grid for autonomous vehicles
Yuchi Wang, Ann Arbor, MI (US); Michael James, Northville, MI (US); Robert Chen, San Francisco, CA (US); and Derrick Dominic, Canton, MI (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by WAYMO LLC, Mountain View, CA (US)
Filed on Dec. 11, 2020, as Appl. No. 17/118,758.
Prior Publication US 2022/0185313 A1, Jun. 16, 2022
Int. Cl. B60W 60/00 (2020.01); G06V 20/56 (2022.01); B60W 40/06 (2012.01); G06F 18/23 (2023.01); G06F 18/2415 (2023.01)
CPC B60W 60/00184 (2020.02) [B60W 40/06 (2013.01); B60W 60/001 (2020.02); B60W 60/00182 (2020.02); G06F 18/23 (2023.01); G06F 18/2415 (2023.01); G06V 20/56 (2022.01); G06V 20/588 (2022.01); B60W 2420/52 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of generating a puddle occupancy grid including a plurality of cells, the method comprising:
receiving, by one or more processors, a first probability value for puddling at a first location generated using sensor data from a first sensor;
receiving, by the one or more processors, a second probability value for puddling at a second location generating using sensor data from a second sensor different from the first sensor;
identifying, by the one or more processors, a first cell from the plurality of cells using the first location;
identifying, by the one or more processors, the first cell from the plurality of cells using the second location;
generating, by the one or more processors, a value for the first cell using the first probability value and the second probability value; and
using, by the one or more processors, the value for the first cell to control a vehicle in an autonomous driving mode.