公开(公告)号：US20230036720A1

公开(公告)日：2023-02-02

申请号：US17382449

申请日：2021-07-22

Applicant: Waymo LLC

Inventor： Ram Vellanki ,  Cheng Zhou

IPC: B60W60/00 ,  G01C21/34

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle using no block costs in space and time. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A set of no-block zones through which the trajectory traverses may be identified. A no-block zone may be region where the autonomous vehicle should not stop but can drive through in an autonomous driving mode. For each given no-block zone of the set, a penetration cost that increases towards a center of the no-block zone and decreases towards edges of the no-block zone may be determined. Whether the autonomous vehicle should follow the trajectory may be determined based on the penetration cost. An autonomous vehicle may be controlled in the autonomous driving mode according to the trajectory based on the determination of whether the autonomous vehicle should follow the trajectory.

公开(公告)号：US20230417565A1

公开(公告)日：2023-12-28

申请号：US17849936

申请日：2022-06-27

Applicant: Waymo LLC

Inventor： Alisha Saxena ,  Cheng Zhou ,  Romain Thibaux ,  Ryan De Iaco

IPC: G01C21/34 ,  B60W60/00 ,  B60W30/18

CPC classification number: G01C21/3492 ,  B60W60/0027 ,  B60W30/18163 ,  B60W2552/05 ,  B60W2552/10 ,  B60W2554/406

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, one or more processors of one or more first systems of the autonomous vehicles may receive a signal indicating a predicted traffic stack for a lane in which the autonomous vehicle is currently traveling. In response to the received signal, costs of edges of a roadgraph between the autonomous vehicle and a location of the predicted traffic stack may be adjusted in order to encourage the autonomous vehicle to change lanes in response to the predicted traffic stack. A route may be generated to a destination based on at least one of the adjusted costs. The route may be provided to one or more second systems of the autonomous vehicle in order to control the autonomous vehicle according to the route.

公开(公告)号：US20230365159A1

公开(公告)日：2023-11-16

申请号：US18332021

申请日：2023-06-09

Applicant: WAYMO LLC

Inventor： Ram Vellanki ,  Cheng Zhou

IPC: B60W60/00 ,  G01C21/34

CPC classification number: B60W60/0011 ,  G01C21/3461 ,  B60W60/00

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle using no block costs in space and time. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A set of no-block zones through which the trajectory traverses may be identified. A no-block zone may be region where the autonomous vehicle should not stop but can drive through in an autonomous driving mode. For each given no-block zone of the set, a penetration cost that increases towards a center of the no-block zone and decreases towards edges of the no-block zone may be determined. Whether the autonomous vehicle should follow the trajectory may be determined based on the penetration cost. An autonomous vehicle may be controlled in the autonomous driving mode according to the trajectory based on the determination of whether the autonomous vehicle should follow the trajectory.

公开(公告)号：US11708087B2

公开(公告)日：2023-07-25

申请号：US17382449

申请日：2021-07-22

Applicant: Waymo LLC

Inventor： Ram Vellanki ,  Cheng Zhou

IPC: B60W60/00 ,  G01C21/34

CPC classification number: B60W60/00 ,  G01C21/3461

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle using no block costs in space and time. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A set of no-block zones through which the trajectory traverses may be identified. A no-block zone may be region where the autonomous vehicle should not stop but can drive through in an autonomous driving mode. For each given no-block zone of the set, a penetration cost that increases towards a center of the no-block zone and decreases towards edges of the no-block zone may be determined. Whether the autonomous vehicle should follow the trajectory may be determined based on the penetration cost. An autonomous vehicle may be controlled in the autonomous driving mode according to the trajectory based on the determination of whether the autonomous vehicle should follow the trajectory.