公开(公告)号：US11814078B2

公开(公告)日：2023-11-14

申请号：US18060340

申请日：2022-11-30

Applicant: Waymo LLC

Inventor： Ioan-Alexandru Sucan ,  Joshua Herbach ,  Collin Winter

IPC: B60W60/00 ,  G05D1/00

CPC classification number: B60W60/0011 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0044 ,  G05D2201/0213

Abstract: Example embodiments relate to using remote assistance to maneuver an autonomous vehicle to a location. A computing device used by a remote operator may receive a request for assistance from a vehicle that indicates the vehicle is stopped at a first location with one or more navigation options for enabling the vehicle to navigate from the first location to a second location. At least one navigation option includes a maneuver technique that requires operator approval prior to execution. The computing device may then display a graphical user interface (GUI) that conveys the one or more navigation options. Based on detecting a selection of a particular navigation option, the computing device may transmit instructions to the vehicle to perform the particular navigation option. The vehicle may configured to navigate from the first location to the second location by performing the particular navigation option while monitoring for changes in the environment.

公开(公告)号：US12128922B2

公开(公告)日：2024-10-29

申请号：US17558062

申请日：2021-12-21

Applicant: Waymo LLC

Inventor： Collin Winter ,  Vishay Nihalani

IPC: B60W60/00 ,  G01C21/34 ,  G06F3/04842 ,  G06T11/00

CPC classification number: B60W60/0011 ,  B60W60/0027 ,  G01C21/3461 ,  G06T11/001 ,  B60W2420/403 ,  B60W2554/801 ,  B60W2554/802 ,  B60W2556/45 ,  G06F3/04842 ,  G06T2200/24

Abstract: Example embodiments relate to user interface techniques for recommending remote assistance actions. A remote computing device may display a representation of the forward path for an autonomous vehicle based on sensor data received from the vehicle. The computing device may augment the representation of the forward path to further depict one or more proposed trajectories available for the autonomous vehicle to perform. Each proposed trajectory conveys one or more maneuvers positioned relative to road boundaries in the forward path. The computing device may receive a selection of a proposed trajectory from the one or more proposed trajectories available for the autonomous vehicle to perform and provide navigation instructions to the vehicle based on the proposed trajectory.

公开(公告)号：US20230195107A1

公开(公告)日：2023-06-22

申请号：US17558088

申请日：2021-12-21

Applicant: Waymo LLC

Inventor： Collin Winter ,  Vishay Nihalani

IPC: G05D1/00 ,  G06V20/58 ,  G06T7/70 ,  H04W4/40

CPC classification number: G05D1/0038 ,  G06V20/58 ,  G06T7/70 ,  H04W4/40 ,  G05D2201/0213 ,  G06T2200/24 ,  G06T2210/12 ,  G06T2207/30261

Abstract: Example embodiments relate to techniques for enabling one or more systems of a vehicle (e.g., an autonomous vehicle) to request remote assistance to help the vehicle navigate in an environment. A computing device may be configured to receive a request for assistance from a vehicle. The request may include an image frame representative of a portion of an environment. The computing device may also be configured to initiate display of a graphical user interface to visually represent the image frame. Further, the computing device may determine a bounding region for the image frame. The bounding region may be associated with one or more objects in the image frame. Additionally, the computing device may be configured to receive, via the GUI, an input that includes an object identifier, and associate the object identifier with each of the one or more objects in the bounding region.

公开(公告)号：US12145621B2

公开(公告)日：2024-11-19

申请号：US18481650

申请日：2023-10-05

Applicant: Waymo LLC

Inventor： Ioan-Alexandru Sucan ,  Joshua Herbach ,  Collin Winter

IPC: B60W60/00 ,  G05D1/00

Abstract: Example embodiments relate to using remote assistance to maneuver an autonomous vehicle to a location. A computing device used by a remote operator may receive a request for assistance from a vehicle that indicates the vehicle is stopped at a first location with one or more navigation options for enabling the vehicle to navigate from the first location to a second location. At least one navigation option includes a maneuver technique that requires operator approval prior to execution. The computing device may then display a graphical user interface (GUI) that conveys the one or more navigation options. Based on detecting a selection of a particular navigation option, the computing device may transmit instructions to the vehicle to perform the particular navigation option. The vehicle may configured to navigate from the first location to the second location by performing the particular navigation option while monitoring for changes in the environment.

公开(公告)号：US20240043038A1

公开(公告)日：2024-02-08

申请号：US18481650

申请日：2023-10-05

Applicant: Waymo LLC

Inventor： Ioan-Alexandru Sucan ,  Joshua Herbach ,  Collin Winter

IPC: B60W60/00 ,  G05D1/00

CPC classification number: B60W60/0011 ,  G05D1/0044 ,  G05D1/0022 ,  G05D1/0016 ,  G05D2201/0213

Abstract: Example embodiments relate to using remote assistance to maneuver an autonomous vehicle to a location. A computing device used by a remote operator may receive a request for assistance from a vehicle that indicates the vehicle is stopped at a first location with one or more navigation options for enabling the vehicle to navigate from the first location to a second location. At least one navigation option includes a maneuver technique that requires operator approval prior to execution. The computing device may then display a graphical user interface (GUI) that conveys the one or more navigation options. Based on detecting a selection of a particular navigation option, the computing device may transmit instructions to the vehicle to perform the particular navigation option. The vehicle may configured to navigate from the first location to the second location by performing the particular navigation option while monitoring for changes in the environment.

公开(公告)号：US11726471B2

公开(公告)日：2023-08-15

申请号：US17004839

申请日：2020-08-27

Applicant: Waymo LLC

Inventor： Ioan-Alexandru Sucan ,  Collin Winter ,  Chien-Yu Ko ,  Vishay Nihalani

IPC: G05D1/00 ,  B60W60/00

CPC classification number: G05D1/0016 ,  B60W60/001 ,  B60W60/005 ,  G05D1/0022 ,  G05D1/0088 ,  G05D2201/0213

Abstract: Example embodiments relate to gradually adjusting a vehicle sensor perspective using remote assistance. A computing device may receive a request for assistance from a vehicle operating in an environment. The request indicates that the vehicle is stopped at a location with a sensor perspective of the environment that is at least partially occluded. Responsive to receiving the request for assistance, the computing device may display a graphical user interface (GUI) that represents a current state of the vehicle and includes a selectable option configured to enable the vehicle to gradually move forward a predefined distance. The computing device may detect a selection of the selectable option and transmit instructions that enable the vehicle to gradually move forward the predefined distance. The vehicle can then gradually move forward the predefined distance while also monitoring for one or more changes in the environment responsive to receiving the instructions.

公开(公告)号：US20230100535A1

公开(公告)日：2023-03-30

申请号：US18060340

申请日：2022-11-30

Applicant: Waymo LLC

Inventor： Ioan-Alexandru Sucan ,  Joshua Herbach ,  Collin Winter

IPC: B60W60/00 ,  G05D1/00

Abstract: Example embodiments relate to using remote assistance to maneuver an autonomous vehicle to a location. A computing device used by a remote operator may receive a request for assistance from a vehicle that indicates the vehicle is stopped at a first location with one or more navigation options for enabling the vehicle to navigate from the first location to a second location. At least one navigation option includes a maneuver technique that requires operator approval prior to execution. The computing device may then display a graphical user interface (GUI) that conveys the one or more navigation options. Based on detecting a selection of a particular navigation option, the computing device may transmit instructions to the vehicle to perform the particular navigation option. The vehicle may configured to navigate from the first location to the second location by performing the particular navigation option while monitoring for changes in the environment.

公开(公告)号：US12153427B2

公开(公告)日：2024-11-26

申请号：US17558088

申请日：2021-12-21

Applicant: Waymo LLC

Inventor： Collin Winter ,  Vishay Nihalani

IPC: G05D1/00 ,  G06T7/70 ,  G06V20/58 ,  H04W4/40

Abstract: Example embodiments relate to techniques for enabling one or more systems of a vehicle (e.g., an autonomous vehicle) to request remote assistance to help the vehicle navigate in an environment. A computing device may be configured to receive a request for assistance from a vehicle. The request may include an image frame representative of a portion of an environment. The computing device may also be configured to initiate display of a graphical user interface to visually represent the image frame. Further, the computing device may determine a bounding region for the image frame. The bounding region may be associated with one or more objects in the image frame. Additionally, the computing device may be configured to receive, via the GUI, an input that includes an object identifier, and associate the object identifier with each of the one or more objects in the bounding region.

公开(公告)号：US12145623B2

公开(公告)日：2024-11-19

申请号：US17557908

申请日：2021-12-21

Applicant: Waymo LLC

Inventor： Collin Winter ,  Vishay Nihalani

IPC: B60W60/00 ,  G06V20/56 ,  G08G1/0969

Abstract: Example embodiments relate to techniques for providing incremental remote assistance to a vehicle. A computing device initially receives location information from a vehicle that is autonomously navigating to a destination. Based on the location information, the computing device displays a representation of an environment of the vehicle and receives a first input specifying a first waypoint and a second input specifying a second waypoint positioned on the representation of the environment. The computing device is configured to limit a location of the first waypoint based on a first location of the vehicle, and a location of the second waypoint based on a second location of the vehicle or the location of the first waypoint. The computing device can then provide route instructions to the vehicle based on at least the first waypoint or the second waypoint.

公开(公告)号：US20230196784A1

公开(公告)日：2023-06-22

申请号：US17558068

申请日：2021-12-21

Applicant: Waymo LLC

Inventor： Collin Winter ,  Vishay Nihalani

IPC: G06V20/56 ,  G05D1/02 ,  B60W30/09 ,  G06V10/764

CPC classification number: G06V20/56 ,  G05D1/0246 ,  G05D1/0276 ,  B60W30/09 ,  G06V10/764

Abstract: Example embodiments relate to techniques for enabling one or more systems of a vehicle (e.g., an autonomous vehicle) to request remote assistance to help the vehicle navigate in an environment. A computing device may be configured to receive a request for assistance from a vehicle to classify an object and to initiate display of a graphical user interface at a display device. The graphical user interface may be configured to visually represent the object and may comprise one or more graphical user interface elements to enable input to be provided for classifying the object. The computing device may also be configured to generate a response that includes a classification of the object based on detecting a selection of at least one of the one or more graphical user interface elements. Further, the computing device may be configured to transmit the response to the vehicle.