公开(公告)号：US20230047336A1

公开(公告)日：2023-02-16

申请号：US17400286

申请日：2021-08-12

Applicant: Waymo LLC

Inventor： Jennifer Iglesias ,  Lucas Watson ,  Tian Yu Liu

IPC: B60W60/00 ,  B60W30/095 ,  B60W50/00 ,  B60W40/04

Abstract: Aspects of the disclosure provide for a method of controlling an autonomous vehicle in an autonomous driving mode. For instance, a predicted future trajectory for an object detected in a driving environment of the autonomous vehicle may be received. A routing intent for a planned trajectory for the autonomous vehicle may be received. The predicted future trajectory and the routing intent intersect with one another may be determined. When the predicted future trajectory and the routing intent are determined to intersect with one another, a time gap may be applied to a predicted future state of the object defined in the predicted future trajectory. A planned trajectory may be determined for the autonomous vehicle based on the applied time gap. The autonomous vehicle may be controlled in the autonomous driving mode based on the planned trajectory.

公开(公告)号：US12252158B2

公开(公告)日：2025-03-18

申请号：US17400286

申请日：2021-08-12

Applicant: Waymo LLC

Inventor： Jennifer Iglesias ,  Lucas Watson ,  Tian Yu Liu

IPC: B60W60/00 ,  B60W30/095 ,  B60W40/04 ,  B60W50/00

Abstract: Aspects of the disclosure provide for a method of controlling an autonomous vehicle in an autonomous driving mode. For instance, a predicted future trajectory for an object detected in a driving environment of the autonomous vehicle may be received. A routing intent for a planned trajectory for the autonomous vehicle may be received. The predicted future trajectory and the routing intent intersect with one another may be determined. When the predicted future trajectory and the routing intent are determined to intersect with one another, a time gap may be applied to a predicted future state of the object defined in the predicted future trajectory. A planned trajectory may be determined for the autonomous vehicle based on the applied time gap. The autonomous vehicle may be controlled in the autonomous driving mode based on the planned trajectory.