公开(公告)号：US20240317265A1

公开(公告)日：2024-09-26

申请号：US18734007

申请日：2024-06-05

Applicant: Waymo LLC

Inventor： Dong Li ,  Tian Jin ,  Mingxiang Fan ,  Rajiv Kurian

IPC: B60W60/00 ,  G08G1/16

CPC classification number: B60W60/0016 ,  B60W60/00272 ,  B60W60/00276 ,  G08G1/16 ,  B60W2554/80

Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.

公开(公告)号：US12037017B2

公开(公告)日：2024-07-16

申请号：US17071008

申请日：2020-10-15

Applicant: WAYMO LLC

Inventor： Dong Li ,  Tian Jin ,  Mingxiang Fan ,  Rajiv Kurian

IPC: B60W60/00 ,  G08G1/16

CPC classification number: B60W60/0016 ,  B60W60/00272 ,  B60W60/00276 ,  G08G1/16 ,  B60W2554/80

Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.

公开(公告)号：US20240190423A1

公开(公告)日：2024-06-13

申请号：US18588333

申请日：2024-02-27

Applicant: Waymo LLC

Inventor： Dong Li ,  Ioan-Alexandru Sucan ,  Victor Puchkarev

IPC: B60W30/09 ,  B60W30/095 ,  B60W40/12 ,  G06V10/44 ,  G06V20/58

CPC classification number: B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W40/12 ,  G06V10/44 ,  G06V20/58 ,  B60W2422/90 ,  B60W2554/00

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

公开(公告)号：US20220402527A1

公开(公告)日：2022-12-22

申请号：US17354614

申请日：2021-06-22

Applicant: Waymo LLC

Inventor： Dong Li ,  Victor Puchkarev

IPC: B60W60/00 ,  B60W30/095 ,  B60W40/02

Abstract: Aspects and implementations of the present disclosure relate to modeling of positional uncertainty of moving objects using precomputed polygons, for example, for the purposes of computing autonomous vehicle (AV) trajectories. An example method includes: receiving, by a data processing system of an AV, data descriptive of an agent state of an object; generating a polygon representative of the agent state; identifying extreme vertices of the polygon along a longitudinal axis parallel to a heading direction of the object or along a lateral axis orthogonal to the heading direction; and applying, based on the extreme vertices, at least one expansion transformation to the polygon along the longitudinal axis or the lateral axis to generate a precomputed polygon.

公开(公告)号：US11327507B2

公开(公告)日：2022-05-10

申请号：US16383096

申请日：2019-04-12

Applicant: Waymo LLC

Inventor： Dong Li ,  Matthew McNaughton ,  Shir Yehoshua ,  Aida Khosroshahi ,  Ioan-Alexandru Sucan

IPC: B60W60/00 ,  G05D1/02 ,  G05D1/00

Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.

公开(公告)号：US11260857B2

公开(公告)日：2022-03-01

申请号：US16688017

申请日：2019-11-19

Applicant: Waymo LLC

Inventor： Dong Li ,  Victor Puchkarev

IPC: B60W30/095 ,  B60W30/09 ,  G05D1/00 ,  B60W40/12 ,  G05D1/02

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

公开(公告)号：US20210362708A1

公开(公告)日：2021-11-25

申请号：US17386113

申请日：2021-07-27

Applicant: Waymo LLC

Inventor： Dong Li ,  Ioan-Alexandru Sucan ,  Victor Puchkarev

IPC: B60W30/095 ,  B60W30/09 ,  G05D1/00 ,  B60W40/12 ,  G05D1/02

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

公开(公告)号：US20210053562A1

公开(公告)日：2021-02-25

申请号：US16687974

申请日：2019-11-19

Applicant: Waymo LLC

Inventor： Dong Li ,  Ioan-Alexandru Sucan

IPC: B60W30/095 ,  B60W30/09 ,  B60W40/12 ,  G05D1/00

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

公开(公告)号：US12093058B2

公开(公告)日：2024-09-17

申请号：US18204135

申请日：2023-05-31

Applicant: Waymo LLC

Inventor： Dong Li ,  Matthew McNaughton ,  Shir Yehoshua ,  Aida Khosroshahi ,  Ioan-Alexandru Sucan

IPC: B60W60/00 ,  G05D1/00

CPC classification number: G05D1/0289 ,  G05D1/0088 ,  G05D1/0223

Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.

公开(公告)号：US20220194424A1

公开(公告)日：2022-06-23

申请号：US17130718

申请日：2020-12-22

Applicant: Waymo LLC

Inventor： Dong Li ,  Victor Puchkarev

IPC: B60W60/00 ,  B60W30/095 ,  B60W30/09 ,  B60W30/14

Abstract: Aspects and implementations of the present disclosure relate to autonomous vehicle (AV) trajectories computed using a box-based probabilistic overlap model. An example method includes: receiving, by a data processing system of an AV, data descriptive of an agent state of an object relative to the AV; computing an initial overlap region between a first box representative of the AV and a second box representative of the agent state; updating dimensions of the second box; and computing an updated overlap region by interpolating the initial overlap region based on the updated dimensions of the second box.