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公开(公告)号：US20250091614A1
公开(公告)日：2025-03-20
申请号：US18969041
申请日：2024-12-04
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: B60W60/00
Abstract: A method includes determining a maximum first parameter value and a maximum second parameter value corresponding to an autonomous vehicle (AV) for traveling a route. The method further includes determining, based on a first load value at a first distal end of a first axle of the AV and a second load value at a second distal end of the first axle, an updated first parameter value and an updated second parameter value corresponding to the AV for traveling the route. The method further includes causing the AV to travel the route based on the updated first parameter value and the updated second parameter value.
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公开(公告)号：US09740202B2
公开(公告)日：2017-08-22
申请号：US15371595
申请日：2016-12-07
Applicant: Waymo LLC
Inventor： Andrew Barton-Sweeney , Daniel Trawick Egnor , Nathaniel Fairfield
CPC classification number: G05D1/0055 , B60W30/00 , G01C21/3415 , G05D1/0088 , G05D1/0212 , G05D1/0214 , G05D1/0274 , G05D2201/0213
Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
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公开(公告)号：US12197213B2
公开(公告)日：2025-01-14
申请号：US18196486
申请日：2023-05-12
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Michael James , Ioan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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公开(公告)号：US12181873B2
公开(公告)日：2024-12-31
申请号：US17364277
申请日：2021-06-30
Applicant: Waymo LLC
Inventor： Joshua P Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: G05D1/00
Abstract: A method includes identifying sensor data associated with corresponding distal ends of one or more axles of an autonomous vehicle (AV). The method further includes determining, based on the sensor data, mass distribution data of the AV. The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes causing, based on the mass distribution data, performance of a corrective action associated with the AV.
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5.发明公开公开(公告)号：US20240010198A1
公开(公告)日：2024-01-11
申请号：US17810959
申请日：2022-07-06
Applicant: Waymo LLC
Inventor： Andrew Barton-Sweeney , Andre Strobel , Mark Calleija , Joel Benito Manrique
CPC classification number: B60W30/146 , B60W40/02 , B60W40/105 , B60W40/13 , B60W60/0015 , B60W50/0097 , G01W1/10 , B60W2050/0052 , B60W2300/145 , B60W2422/00 , B60W2420/52 , B60W2520/06 , B60W2520/10 , B60W2555/20 , B60W2556/40 , B60W2556/50 , G01W2203/00
Abstract: Example embodiments relate to techniques for adjusting vehicle behavior based on ambient ground relative wind estimations. An onboard computing system may receive wind data from one or multiple wind sensors positioned onboard a vehicle. The wind data can indicate a direction and a speed of wind propagating in the vehicle's environment. The computing system can also receive navigation data that represents a direction and a speed of the vehicle and then estimate an ambient ground relative wind speed based on the navigation data and the wind data. The computing system can adjust the behavior of the vehicle based on the ambient ground relative wind speed. For instance, the computing system may compare the speed of the ambient ground relative wind to a predefined behavior threshold curve and adjust the behavior of the vehicle based on the comparison.
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Patent Agency Ranking
公开(公告)号：US20230004158A1
公开(公告)日：2023-01-05
申请号：US17364277
申请日：2021-06-30
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
Abstract: A method includes identifying sensor data associated with corresponding distal ends of one or more axles of an autonomous vehicle (AV). The method further includes determining, based on the sensor data, mass distribution data of the AV. The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes causing, based on the mass distribution data, performance of a corrective action associated with the AV.
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公开(公告)号：US20230280748A1
公开(公告)日：2023-09-07
申请号：US18196486
申请日：2023-05-12
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Michael James , Ioan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
CPC classification number: G05D1/0077 , G05D1/0223 , G05D1/0212 , G05D1/0088
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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公开(公告)号：US20230001955A1
公开(公告)日：2023-01-05
申请号：US17364289
申请日：2021-06-30
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: B60W60/00
Abstract: A method includes identifying mass distribution data of an autonomous vehicle (AV). The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes determining, based on the mass distribution data, one or more handling maneuver limits for the AV. The method further includes causing the AV to travel a route based on the one or more handling maneuver limits.
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公开(公告)号：US20220204017A1
公开(公告)日：2022-06-30
申请号：US17135259
申请日：2020-12-28
Applicant: WAYMO LLC
Inventor： Andrew Barton-Sweeney , Rami Hindiyeh , Peter Greene , Vadim Butakov , Diomidis Katzourakis
Abstract: The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.
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公开(公告)号：US20250093872A1
公开(公告)日：2025-03-20
申请号：US18969022
申请日：2024-12-04
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: G05D1/00
Abstract: A method includes identifying suspension stiffness data and suspension deflection data associated with corresponding distal ends of one or more axles of an autonomous vehicle (AV). The method further includes determining, based on the suspension deflection data and the suspension stiffness data, driving constraint data for traveling at least a portion of a route. The method further includes causing, based on the driving constraint data, performance of a corrective action associated with the AV during the traveling of the at least a portion of a route.
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