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公开(公告)号：US20230280748A1
公开(公告)日：2023-09-07
申请号：US18196486
申请日：2023-05-12
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Michael James , Ioan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
CPC classification number: G05D1/0077 , G05D1/0223 , G05D1/0212 , G05D1/0088
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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公开(公告)号：US20220292402A1
公开(公告)日：2022-09-15
申请号：US17828196
申请日：2022-05-31
Applicant: Waymo LLC
Inventor： Xin Zhou , Roshni Cooper , Michael James
Abstract: The technology relates to using on-board sensor data, off-board information and a deep learning model to classify road wetness and/or to perform a regression analysis on road wetness based on a set of input information. Such information includes on-board and/or off-board signals obtained from one or more sources including on-board perception sensors, other on-board modules, external weather measurement, external weather services, etc. The ground truth includes measurements of water film thickness and/or ice coverage on road surfaces. The ground truth, on-board and off-board signals are used to build the model. The constructed model can be deployed in autonomous vehicles for classifying/regressing the road wetness with on-board and/or off-board signals as the input, without referring to the ground truth. The model can be applied in a variety of ways to enhance autonomous vehicle operation, for instance by altering current driving actions, modifying planned routes or trajectories, activating on-board cleaning systems, etc.
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公开(公告)号：US20220221280A1
公开(公告)日：2022-07-14
申请号：US17708477
申请日：2022-03-30
Applicant: Waymo LLC
Inventor： Samuel Panzer , Michael Montemerlo , Michael James
Abstract: Aspects of the disclosure provide for localizing a vehicle. In one instance, a weather condition in which the vehicle is currently driving may be identified. A plurality of sensor inputs including intensity information, elevation information, and radar sensor information may be received. For each of the plurality of sensor inputs, an alignment score is determined by comparing the intensity information, elevation information, and radar sensor information to a corresponding pre-stored image for each of the intensity information, the elevation information, and the radar sensor information. A set of weights for the plurality of sensor inputs may be determined based on the identified weather condition. The alignment scores may then be combined using the set of weights in order to localize the vehicle.
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公开(公告)号：US11320272B2
公开(公告)日：2022-05-03
申请号：US16922052
申请日：2020-07-07
Applicant: Waymo LLC
Inventor： Samuel Panzer , Michael Montemerlo , Michael James
Abstract: Aspects of the disclosure provide for localizing a vehicle. In one instance, a weather condition in which the vehicle is currently driving may be identified. A plurality of sensor inputs including intensity information, elevation information, and radar sensor information may be received. For each of the plurality of sensor inputs, an alignment score is determined by comparing the intensity information, elevation information, and radar sensor information to a corresponding pre-stored image for each of the intensity information, the elevation information, and the radar sensor information. A set of weights for the plurality of sensor inputs may be determined based on the identified weather condition. The alignment scores may then be combined using the set of weights in order to localize the vehicle.
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公开(公告)号：US11208111B2
公开(公告)日：2021-12-28
申请号：US16215713
申请日：2018-12-11
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC: B60W10/04 , B60W10/20 , B60W50/02 , B60W50/029 , G05D1/00
Abstract: The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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Patent Agency Ranking
公开(公告)号：US20210383269A1
公开(公告)日：2021-12-09
申请号：US16893664
申请日：2020-06-05
Applicant: Waymo LLC
Inventor： Xin Zhou , Roshni Cooper , Michael James
Abstract: The technology relates to using on-board sensor data, off-board information and a deep learning model to classify road wetness and/or to perform a regression analysis on road wetness based on a set of input information. Such information includes on-board and/or off-board signals obtained from one or more sources including on-board perception sensors, other on-board modules, external weather measurement, external weather services, etc. The ground truth includes measurements of water film thickness and/or ice coverage on road surfaces. The ground truth, on-board and off-board signals are used to build the model. The constructed model can be deployed in autonomous vehicles for classifying/regressing the road wetness with on-board and/or off-board signals as the input, without referring to the ground truth. The model can be applied in a variety of ways to enhance autonomous vehicle operation, for instance by altering current driving actions, modifying planned routes or trajectories, activating on-board cleaning systems, etc.
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公开(公告)号：US12210947B2
公开(公告)日：2025-01-28
申请号：US18238741
申请日：2023-08-28
Applicant: Waymo LLC
Inventor： Xin Zhou , Roshni Cooper , Michael James
Abstract: The technology relates to using on-board sensor data, off-board information and a deep learning model to classify road wetness and/or to perform a regression analysis on road wetness based on a set of input information. Such information includes on-board and/or off-board signals obtained from one or more sources including on-board perception sensors, other on-board modules, external weather measurement, external weather services, etc. The ground truth includes measurements of water film thickness and/or ice coverage on road surfaces. The ground truth, on-board and off-board signals are used to build the model. The constructed model can be deployed in autonomous vehicles for classifying/regressing the road wetness with on-board and/or off-board signals as the input, without referring to the ground truth. The model can be applied in a variety of ways to enhance autonomous vehicle operation, for instance by altering current driving actions, modifying planned routes or trajectories, activating on-board cleaning systems, etc.
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公开(公告)号：US12197213B2
公开(公告)日：2025-01-14
申请号：US18196486
申请日：2023-05-12
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Michael James , Ioan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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公开(公告)号：US20240361771A1
公开(公告)日：2024-10-31
申请号：US18767042
申请日：2024-07-09
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jens-Steffen Ralf Gutmann , Michael James
IPC: G05D1/00 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G01S13/95 , G01S15/88 , G01S17/95 , G01W1/02
CPC classification number: G05D1/0291 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G01S13/95 , G01S15/885 , G01S17/95 , G01W1/02 , B60W2300/12 , B60W2300/145 , B60W2420/403 , B60W2420/408 , B60W2420/54 , B60W2552/00 , B60W2555/20 , B60W2710/18 , B60W2710/20 , B60W2720/106 , G01W2203/00
Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.
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公开(公告)号：US11912292B2
公开(公告)日：2024-02-27
申请号：US17531946
申请日：2021-11-22
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC: B60W50/029 , B60W10/04 , B60W10/20 , B60W50/02 , G05D1/00
CPC classification number: B60W50/029 , B60W10/04 , B60W10/20 , B60W50/0205 , G05D1/0088 , B60W2050/0215 , B60W2420/42 , B60W2420/52 , B60W2420/54 , B60W2710/20 , B60W2720/106 , G05D2201/0213
Abstract: The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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