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公开(公告)号：US20190092341A1
公开(公告)日：2019-03-28
申请号：US15716872
申请日：2017-09-27
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Katharine Patterson
Abstract: Aspects of the present disclosure relate to vehicle systems including one or more control computing devices configured to send commands to one or more actuators of the vehicle in order to control deceleration, acceleration, and steering. The vehicle may include user input devices for allowing a driver to control the one or more actuators in order to control deceleration, acceleration, and steering. The computing devices are configured to operate in a manual driving mode where commands from the control computing devices are invalidated and ignored by the actuators, a first autonomous driving mode where the control computing devices are configured to send the commands to control the actuators and inputs from the user input devices are prioritized over the commands; and a second autonomous driving mode wherein the control computing devices are configured to send the commands to control the actuators and inputs from commands are prioritized over inputs from the user input devices.
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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
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.
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公开(公告)号：US20220004200A1
公开(公告)日：2022-01-06
申请号：US17475406
申请日：2021-09-15
Applicant: Waymo LLC
Inventor： Peter Colijn , Laurens Andreas Feenstra , Joshua Seth Herbach , Katharine Patterson
Abstract: Aspects of the disclosure relate to assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet. For instance, locations of the vehicles of the fleet as well as a number of available spaces at each of the plurality of parking location locations may be tracked. A subset of the fleet not already located at one of the plurality of parking locations is identified. At least one assignment assigning each vehicle of the subset to a respective parking location of the plurality of parking locations is determined according to the numbers of available spaces and the identified locations of the subset. For the at least one assignment, a total cost is determined by determining a cost value for each of a plurality of factors. The given assignment is sent to the fleet based on the total cost and the cost value.
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公开(公告)号：US20190179336A1
公开(公告)日：2019-06-13
申请号：US15838650
申请日：2017-12-12
Applicant: Waymo LLC
Inventor： Peter Colijn , Laurens Andreas Feenstra , Joshua Seth Herbach , Katharine Patterson
Abstract: Aspects of the disclosure relate to assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet. For instance, locations of the vehicles of the fleet as well as a number of available spaces at each of the plurality of parking location locations may be tracked. A subset of the fleet not already located at one of the plurality of parking locations is identified. At least one assignment assigning each vehicle of the subset to a respective parking location of the plurality of parking locations is determined according to the numbers of available spaces and the identified locations of the subset. For the at least one assignment, a total cost is determined by determining a cost value for each of a plurality of factors. The given assignment is sent to the fleet based on the total cost and the cost value.
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公开(公告)号：US11885639B2
公开(公告)日：2024-01-30
申请号：US16989485
申请日：2020-08-10
Applicant: Waymo LLC
Inventor： Katharine Patterson , Joshua Herbach , David Silver , David Margines
CPC classification number: G01C21/3841 , G01C21/3822 , G05D1/0088 , G05D2201/0213
Abstract: Aspects of the disclosure relate to generating scouting objectives in order to update map information used to control a fleet of vehicles in an autonomous driving mode. For instance, a notification from a vehicle of the fleet identifying a feature and a location of the feature may be received. A first bound for a scouting area may be identified based on the location of the feature. A second bound for the scouting area may be identified based on a lane closest to the feature. A scouting objective may be generated for the feature based on the first bound and the second bound.
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Patent Agency Ranking
公开(公告)号：US11675370B2
公开(公告)日：2023-06-13
申请号：US17475406
申请日：2021-09-15
Applicant: Waymo LLC
Inventor： Peter Colijn , Laurens Andreas Feenstra , Joshua Seth Herbach , Katharine Patterson
CPC classification number: G05D1/0291 , B60W30/06 , G05D1/0088 , G06Q10/00 , G06Q10/06315 , G08G1/14 , G08G1/20 , G05D2201/0213
Abstract: Aspects of the disclosure relate to assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet. For instance, locations of the vehicles of the fleet as well as a number of available spaces at each of the plurality of parking location locations may be tracked. A subset of the fleet not already located at one of the plurality of parking locations is identified. At least one assignment assigning each vehicle of the subset to a respective parking location of the plurality of parking locations is determined according to the numbers of available spaces and the identified locations of the subset. For the at least one assignment, a total cost is determined by determining a cost value for each of a plurality of factors. The given assignment is sent to the fleet based on the total cost and the cost value.
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公开(公告)号：US11157018B2
公开(公告)日：2021-10-26
申请号：US16719302
申请日：2019-12-18
Applicant: Waymo LLC
Inventor： Peter Colijn , Laurens Andreas Feenstra , Joshua Seth Herbach , Katharine Patterson
Abstract: Aspects of the disclosure relate to assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet. For instance, locations of the vehicles of the fleet as well as a number of available spaces at each of the plurality of parking location locations may be tracked. A subset of the fleet not already located at one of the plurality of parking locations is identified. At least one assignment assigning each vehicle of the subset to a respective parking location of the plurality of parking locations is determined according to the numbers of available spaces and the identified locations of the subset. For the at least one assignment, a total cost is determined by determining a cost value for each of a plurality of factors. The given assignment is sent to the fleet based on the total cost and the cost value.
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公开(公告)号：US20240125619A1
公开(公告)日：2024-04-18
申请号：US18535304
申请日：2023-12-11
Applicant: Waymo LLC
Inventor： Katharine Patterson , Joshua Herbach , David Silver , David Margines
IPC: G01C21/00
CPC classification number: G01C21/3841 , G01C21/3822
Abstract: Aspects of the disclosure relate to generating scouting objectives in order to update map information used to control a fleet of vehicles in an autonomous driving mode. For instance, a notification from a vehicle of the fleet identifying a feature and a location of the feature may be received. A first bound for a scouting area may be identified based on the location of the feature. A second bound for the scouting area may be identified based on a lane closest to the feature. A scouting objective may be generated for the feature based on the first bound and the second bound.
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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
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.
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公开(公告)号：US11708086B2
公开(公告)日：2023-07-25
申请号：US17028576
申请日：2020-09-22
Applicant: Waymo LLC
Inventor： Katharine Patterson
CPC classification number: B60W60/001 , G01C21/3453 , B60W2556/10
Abstract: Aspects of the disclosure relate to distributing vehicles to perform scouting. This may involve receiving a request for a scouting objective for a vehicle, and in response, identifying a set of scouting objectives that the vehicle is eligible to visit. Each scouting objective of the set is associated with one or more scouting quests, and each scouting quest is associated with a plurality of scouting objectives. For each given scouting objective in the set of scouting objectives, an overall weight may be determined using combined weights for the given scouting objective and any scouting quests with which the given scouting objective is associated. One or more scouting objectives of the set of scouting objectives may be selected using the determined overall weights. The one or more selected scouting objectives may be provided to the vehicle.
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