US 11,837,093 B2
Lane change notification
Nirmal Patel, Sunnyvale, CA (US); Peter Crandall, San Jose, CA (US); and Julien Mercay, Redwood City, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 4, 2021, as Appl. No. 17/518,637.
Application 17/518,637 is a continuation of application No. 16/749,541, filed on Jan. 22, 2020, granted, now 11,195,415.
Application 16/749,541 is a continuation of application No. 15/783,653, filed on Oct. 13, 2017, granted, now 10,580,299, issued on Mar. 3, 2020.
Prior Publication US 2022/0122457 A1, Apr. 21, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 1/137 (2006.01); G01C 21/36 (2006.01); G05D 1/02 (2020.01); G06T 19/00 (2011.01); G08G 1/16 (2006.01); G06V 20/56 (2022.01); G05D 1/00 (2006.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01); G06T 15/20 (2011.01)
CPC G08G 1/137 (2013.01) [G01C 21/3635 (2013.01); G01C 21/3647 (2013.01); G01C 21/3658 (2013.01); G05D 1/0212 (2013.01); G05D 1/0214 (2013.01); G06T 19/006 (2013.01); G06V 20/56 (2022.01); G06V 20/588 (2022.01); G08G 1/167 (2013.01); B60W 30/18163 (2013.01); B60W 2050/146 (2013.01); G05D 1/0088 (2013.01); G06T 15/20 (2013.01); G06T 2207/30252 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method of generating frames from different perspectives of a virtual camera, the method comprising:
generating, by one or more processors, a first frame that includes imagery within a set field of view corresponding to a first perspective of the virtual camera fixed relative to an autonomous vehicle;
determining, by the one or more processors, that the vehicle is going to perform a lane change from a first lane to a second lane; and
at a predetermined time after the determining that the vehicle is going to perform the lane change, adjusting, by the one or more processors, a position of the virtual camera with respect to the imagery of the first frame in order to generate a second frame that includes imagery within a set field of view corresponding to a second perspective of the virtual camera at the adjusted position.