公开(公告)号：US20230166765A1

公开(公告)日：2023-06-01

申请号：US17457128

申请日：2021-12-01

Applicant: Waymo LLC

Inventor： Kevin Yoon ,  Vadim Butakov

IPC: B60W60/00 ,  B60W10/04 ,  B60W10/18

CPC classification number: B60W60/0013 ,  B60W10/04 ,  B60W10/18 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2530/205 ,  B60W2530/10 ,  B60W2555/20 ,  B60W2520/16 ,  B60W2520/18

Abstract: An autonomous vehicle is provided that includes one or more sensors coupled to the autonomous vehicle, and a computing device configured to: (i) receive, from the one or more sensors, operational data related to an operation of the autonomous vehicle, (ii) receive geographical data related to an anticipated route of the autonomous vehicle, (iii) generate, for the anticipated route and based on the operational data and the geographical data, an operational response model representing respective operational constraints for one or more operational parameters of the autonomous vehicle, wherein values for the one or more operational parameters are represented along coordinate axes of a geometrical shape, and wherein the one or more operational parameters are mutually coupled to each other, and (iv) responsively execute, based on the operational response model, an autonomous control strategy comprising one or more adjustments to the operation of the vehicle within the respective operational constraints.

公开(公告)号：US20240083435A1

公开(公告)日：2024-03-14

申请号：US18511793

申请日：2023-11-16

Applicant: Waymo LLC

Inventor： David Smith ,  Kevin Yoon

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

CPC classification number: B60W30/18109 ,  B60W60/001 ,  G01C21/3461 ,  G01C21/3492 ,  B60W2510/18 ,  B60W2710/18

Abstract: A method includes identifying map data comprising driving constraint data for a route of an autonomous vehicle (AV), the map data being of a road network associated with the route of the AV, the driving constraint data being based on physical vehicle data. The method further includes, while the AV is travelling the route, identifying current environmental sensing data for a portion of the route. The method further includes causing, based on the map data comprising the driving constraint data for the route and the current environmental sensing data associated with the portion of the route, the AV to travel the portion of the route.

公开(公告)号：US11851062B2

公开(公告)日：2023-12-26

申请号：US17116314

申请日：2020-12-09

Applicant: Waymo LLC

Inventor： David Smith ,  Kevin Yoon

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

CPC classification number: B60W30/18109 ,  B60W60/001 ,  G01C21/3461 ,  G01C21/3492 ,  B60W2510/18 ,  B60W2710/18

Abstract: A method includes identifying, based on grade data of a route of an autonomous vehicle (AV), a segment of the route that has a grade value that meets a threshold grade value. Responsive to identifying the segment, the method further includes generating, based on the grade data and physical vehicle data of the AV, driving constraint data for the segment of the route. The method further includes causing a routing module of the AV to generate, based on the driving constraint data for the segment of the route, short time horizon routing data corresponding to a portion of the segment. The AV is to travel the portion of the segment of the route based on the short time horizon routing data.

公开(公告)号：US12187314B2

公开(公告)日：2025-01-07

申请号：US17457128

申请日：2021-12-01

Applicant: Waymo LLC

Inventor： Kevin Yoon ,  Vadim Butakov

IPC: B60W60/00 ,  B60W10/04 ,  B60W10/18 ,  B60W50/00

Abstract: An autonomous vehicle is provided that includes one or more sensors coupled to the autonomous vehicle, and a computing device configured to: (i) receive, from the one or more sensors, operational data related to an operation of the autonomous vehicle, (ii) receive geographical data related to an anticipated route of the autonomous vehicle, (iii) generate, for the anticipated route and based on the operational data and the geographical data, an operational response model representing respective operational constraints for one or more operational parameters of the autonomous vehicle, wherein values for the one or more operational parameters are represented along coordinate axes of a geometrical shape, and wherein the one or more operational parameters are mutually coupled to each other, and (iv) responsively execute, based on the operational response model, an autonomous control strategy comprising one or more adjustments to the operation of the vehicle within the respective operational constraints.

公开(公告)号：US20220176962A1

公开(公告)日：2022-06-09

申请号：US17116314

申请日：2020-12-09

Applicant: Waymo LLC

Inventor： David Smith ,  Kevin Yoon

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

Abstract: A method includes identifying, based on grade data of a route of an autonomous vehicle (AV), a segment of the route that has a grade value that meets a threshold grade value. Responsive to identifying the segment, the method further includes generating, based on the grade data and physical vehicle data of the AV, driving constraint data for the segment of the route. The method further includes causing a routing module of the AV to generate, based on the driving constraint data for the segment of the route, short time horizon routing data corresponding to a portion of the segment. The AV is to travel the portion of the segment of the route based on the short time horizon routing data.