公开(公告)号：US12197216B2

公开(公告)日：2025-01-14

申请号：US17713325

申请日：2022-04-05

Applicant: Waymo LLC

Inventor： Austin Daniel Abrams ,  Guillaume Dupre

IPC: G05D1/00 ,  B60W40/02 ,  G01C21/34

Abstract: Aspects of the disclosure relate to routing an autonomous vehicle. For instance, the vehicle may be maneuvered along a route in a first lane using map information identifying a first plurality of nodes representing locations within the first lane and a second plurality of nodes representing locations within a second lane different from the first lane. While maneuvering, when the vehicle should make a lane change may be determined by assessing a cost of connecting a first node of the first plurality of nodes with a second node of a second plurality of nodes. The assessment may be used to make the lane change from the first lane to the second lane.

公开(公告)号：US20190171206A1

公开(公告)日：2019-06-06

申请号：US15831678

申请日：2017-12-05

Applicant: Waymo LLC

Inventor： Austin Daniel Abrams ,  Guillaume Dupre

IPC: G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to routing an autonomous vehicle. For instance, the vehicle may be maneuvered along a route in a first lane using map information identifying a first plurality of nodes representing locations within the first lane and a second plurality of nodes representing locations within a second lane different from the first lane. While maneuvering, when the vehicle should make a lane change may be determined by assessing a cost of connecting a first node of the first plurality of nodes with a second node of a second plurality of nodes. The assessment may be used to make the lane change from the first lane to the second lane.

公开(公告)号：US20240393785A1

公开(公告)日：2024-11-28

申请号：US18796553

申请日：2024-08-07

Applicant: Waymo LLC

Inventor： Austin Daniel Abrams ,  Guillaume Dupre

IPC: G05D1/00 ,  B60W40/02 ,  G01C21/34

Abstract: Aspects of the disclosure relate to routing an autonomous vehicle. For instance, the vehicle may be maneuvered along a route in a first lane using map information identifying a first plurality of nodes representing locations within the first lane and a second plurality of nodes representing locations within a second lane different from the first lane. While maneuvering, when the vehicle should make a lane change may be determined by assessing a cost of connecting a first node of the first plurality of nodes with a second node of a second plurality of nodes. The assessment may be used to make the lane change from the first lane to the second lane.

公开(公告)号：US11017674B1

公开(公告)日：2021-05-25

申请号：US16160137

申请日：2018-10-15

Applicant: Waymo LLC

Inventor： Katharine Patterson ,  Laurens Andreas Feenstra ,  Peter Colijn ,  Austin Daniel Abrams

IPC: G08G1/00 ,  G05D1/02 ,  G05D1/00 ,  G01C21/32 ,  G06F16/29

Abstract: A method is provided for managing and tracking scouting tasks to obtain map information using a fleet of autonomous vehicles. For instance, the method includes defining a scouting quest to obtain the map information. The scouting quest includes a plurality of objectives. Each objective is associated with a geographic location from which sensor data is to be captured. The method also includes receiving a first update message from an autonomous vehicle of the fleet. The update message identifies a location of the autonomous vehicle. The method also includes assigning at least one of the objectives to the autonomous vehicle based on the location of the autonomous vehicle. The method also includes, sending instructions to the autonomous vehicle in order to cause the autonomous vehicle to complete the at least one objective and after sending, tracking a status of the scouting quest.

公开(公告)号：US11804136B1

公开(公告)日：2023-10-31

申请号：US17236346

申请日：2021-04-21

Applicant: Waymo LLC

Inventor： Katharine Patterson ,  Laurens Andreas Feenstra ,  Peter Colijn ,  Austin Daniel Abrams

IPC: G08G1/00 ,  G06F16/29 ,  G05D1/02 ,  G05D1/00 ,  G01C21/32

CPC classification number: G08G1/202 ,  G01C21/32 ,  G05D1/0088 ,  G05D1/0291 ,  G06F16/29 ,  G05D2201/0207 ,  G05D2201/0213

Abstract: A method is provided for managing and tracking scouting tasks to obtain map information using a fleet of autonomous vehicles. For instance, the method includes defining a scouting quest to obtain the map information. The scouting quest includes a plurality of objectives. Each objective is associated with a geographic location from which sensor data is to be captured. The method also includes receiving a first update message from an autonomous vehicle of the fleet. The update message identifies a location of the autonomous vehicle. The method also includes assigning at least one of the objectives to the autonomous vehicle based on the location of the autonomous vehicle. The method also includes sending instructions to the autonomous vehicle in order to cause the autonomous vehicle to complete the at least one objective and after sending, tracking a status of the scouting quest.

公开(公告)号：US20220229436A1

公开(公告)日：2022-07-21

申请号：US17713325

申请日：2022-04-05

Applicant: Waymo LLC

Inventor： Austin Daniel Abrams ,  Guillaume Dupre

IPC: G05D1/00 ,  G05D1/02 ,  B60W40/02 ,  G01C21/34

Abstract: Aspects of the disclosure relate to routing an autonomous vehicle. For instance, the vehicle may be maneuvered along a route in a first lane using map information identifying a first plurality of nodes representing locations within the first lane and a second plurality of nodes representing locations within a second lane different from the first lane. While maneuvering, when the vehicle should make a lane change may be determined by assessing a cost of connecting a first node of the first plurality of nodes with a second node of a second plurality of nodes. The assessment may be used to make the lane change from the first lane to the second lane.

公开(公告)号：US11360475B2

公开(公告)日：2022-06-14

申请号：US15831678

申请日：2017-12-05

Applicant: Waymo LLC

Inventor： Austin Daniel Abrams ,  Guillaume Dupre

IPC: G05D1/00 ,  G05D1/02 ,  B60W40/02 ,  G01C21/34

Abstract: Aspects of the disclosure relate to routing an autonomous vehicle. For instance, the vehicle may be maneuvered along a route in a first lane using map information identifying a first plurality of nodes representing locations within the first lane and a second plurality of nodes representing locations within a second lane different from the first lane. While maneuvering, when the vehicle should make a lane change may be determined by assessing a cost of connecting a first node of the first plurality of nodes with a second node of a second plurality of nodes. The assessment may be used to make the lane change from the first lane to the second lane.