公开(公告)号：US11852492B1

公开(公告)日：2023-12-26

申请号：US17075867

申请日：2020-10-21

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Michael Steven Montemerlo ,  Andrew Hughes Chatham ,  Daniel Trawick Egnor

IPC: B60W30/12 ,  G01C21/34 ,  B60W30/18 ,  G01C21/28 ,  G05D1/00 ,  G05D1/02

CPC classification number: G01C21/3407 ,  B60W30/12 ,  B60W30/18154 ,  G01C21/28 ,  G01C21/34 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0278 ,  B60W2552/05 ,  B60W2556/50

Abstract: An autonomous vehicle may access portions of a map to maneuver a roadway. The map may be split into one or more levels that represent different regions in space. For example, an overpass may be represented by one level while the road below the overpass may be on a separate level. A vehicle traveling on a particular level may use map data that is associated with that level. Furthermore, if the vehicle travels through a warp zone, it may transition from the current level to a destination level and thus begin to use map data associated with the destination level.

公开(公告)号：US10513273B1

公开(公告)日：2019-12-24

申请号：US15718477

申请日：2017-09-28

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Andrew Schultz

IPC: G01C22/00 ,  B60W50/10 ,  G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.

公开(公告)号：US11731644B1

公开(公告)日：2023-08-22

申请号：US17748565

申请日：2022-05-19

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Andrew Schultz

IPC: G01C22/00 ,  B60W50/10 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W50/10 ,  G05D1/0088 ,  G05D1/0223 ,  B60W2540/12 ,  B60W2540/18 ,  B60W2720/106 ,  B60W2720/24 ,  G05D2201/0213

Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.

公开(公告)号：US11364928B1

公开(公告)日：2022-06-21

申请号：US16685209

申请日：2019-11-15

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Andrew Schultz

IPC: G01C22/00 ,  B60W50/10 ,  G05D1/02 ,  G05D1/00

Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.

公开(公告)号：US20210325896A1

公开(公告)日：2021-10-21

申请号：US17318159

申请日：2021-05-12

Applicant: Waymo LLC

Inventor： Daniel Trawick Egnor ,  Nolan McPeek-Bechtold ,  James Harris ,  Andrew Barton-Sweeney ,  Ruslan Kurdyumov ,  Spencer Alexander ,  Ryan Cash

IPC: G05D1/02 ,  B60W30/09 ,  B60T8/32 ,  G05D1/00 ,  B60W30/095

Abstract: A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.

公开(公告)号：US11036234B2

公开(公告)日：2021-06-15

申请号：US16158718

申请日：2018-10-12

Applicant: Waymo LLC

Inventor： Daniel Trawick Egnor ,  Nolan McPeek-Bechtold ,  James Harris ,  Andrew Barton-Sweeney ,  Ruslan Kurdyumov ,  Spencer Alexander ,  Ryan Cash

IPC: G05D1/02 ,  B60W30/09 ,  B60T8/32 ,  G05D1/00 ,  B60W30/095

Abstract: A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.

公开(公告)号：US20200114889A1

公开(公告)日：2020-04-16

申请号：US16156441

申请日：2018-10-10

Applicant: Waymo LLC

Inventor： Daniel Trawick Egnor ,  Nolan McPeek-Bechtold ,  James Harris ,  Andrew Barton-Sweeney ,  Ruslan Kurdyumov ,  Spencer Alexander

IPC: B60T8/94 ,  B60T7/12 ,  B60T8/32 ,  B60T8/1761 ,  B60T8/17

Abstract: The disclosure relates to controlling braking behaviors a vehicle in an autonomous driving mode in the event of a hydraulic system failure. For instance, the vehicle may be controlled in the autonomous driving mode according to a first braking control behavior based on a first relationship between position of a brake pedal of the vehicle and amount of deceleration for the vehicle. While controlling the vehicle, a failure of a hydraulic system may be determined. Based on the determination, the vehicle may be controlled in the autonomous driving mode according to a second braking control behavior by moving the brake pedal until the vehicle reaches a deceleration target defined by the second braking control behavior.

公开(公告)号：US10569784B2

公开(公告)日：2020-02-25

申请号：US15718459

申请日：2017-09-28

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Nolan McPeek-Bechtold

IPC: G01C22/00 ,  B60W30/188 ,  G05D1/00 ,  B60W10/06 ,  B60W10/02 ,  G05D1/02

Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.

公开(公告)号：US20170199523A1

公开(公告)日：2017-07-13

申请号：US15371595

申请日：2016-12-07

Applicant: Waymo LLC

Inventor： Andrew Barton-Sweeney ,  Daniel Trawick Egnor ,  Nathaniel Fairfield

IPC: G05D1/00 ,  G05D1/02

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.

公开(公告)号：US11124202B1

公开(公告)日：2021-09-21

申请号：US15716888

申请日：2017-09-27

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash

IPC: B60W50/06 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/10 ,  B60W50/00

Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a trajectory is identified. The trajectory defines a future desired path for the vehicle and includes a control requirement having a corresponding point in time. A command for achieving the control requirement is generated. A fixed delay value corresponding to a delay caused by transmission of the command to an actuator of the vehicle is generated. A variable delay value corresponding to a delay caused by an amount of time to change a physical state of the actuator to a desired state according to the command is generated. The command is then sent to the actuator based on the fixed delay value, the variable delay value, and so that the actuator causes the vehicle to move according to the command.