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    Driver transition assistance for transitioning to manual control for vehicles with autonomous driving modes
    1.
    发明授权
    Driver transition assistance for transitioning to manual control for vehicles with autonomous driving modes 有权

    公开(公告)号：US10513273B1

    公开(公告)日：2019-12-24

    申请号：US15718477

    申请日：2017-09-28

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Andrew Schultz

    IPC: G01C22/00 ,  B60W50/10 ,  G05D1/00 ,  G05D1/02

    Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.

    DETECTING AND RESPONDING TO PROPULSION AND STEERING SYSTEM ERRORS FOR AUTONOMOUS VEHICLES
    5.
    发明申请
    DETECTING AND RESPONDING TO PROPULSION AND STEERING SYSTEM ERRORS FOR AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20210229666A1

    公开(公告)日：2021-07-29

    申请号：US17228078

    申请日：2021-04-12

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Nolan McPeek-Bechtold

    IPC: B60W30/188 ,  G05D1/00 ,  B60W10/06 ,  B60W10/02 ,  G05D1/02

    Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.

    DETECTING AND RESPONDING TO PROPULSION AND STEERING SYSTEM ERRORS FOR AUTONOMOUS VEHICLES
    6.
    发明申请
    DETECTING AND RESPONDING TO PROPULSION AND STEERING SYSTEM ERRORS FOR AUTONOMOUS VEHICLES 审中-公开

    公开(公告)号：US20200094832A1

    公开(公告)日：2020-03-26

    申请号：US16563017

    申请日：2019-09-06

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Nolan McPeek-Bechtold

    IPC: B60W30/188 ,  G05D1/02 ,  G05D1/00 ,  B60W10/06 ,  B60W10/02

    Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.

    MODE MANAGEMENT FOR AUTONOMOUS VEHICLES
    8.
    发明申请
    MODE MANAGEMENT FOR AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20220063678A1

    公开(公告)日：2022-03-03

    申请号：US17004790

    申请日：2020-08-27

    Applicant: WAYMO LLC

    Inventor： Nolan McPeek-Bechtold ,  Daniel Egnor ,  Leonid Vaynberg ,  Ryan Cash

    IPC: B60W60/00 ,  B60W50/08

    Abstract: Aspects of the disclosure relate to controlling transitions between driving modes of an autonomous vehicle. The vehicle may have a first mode that is a manual driving mode, a second mode that is an autonomous driving mode where a driver is expected to be present to take control, and a third mode where a driver is not expected to be present to take control. While operating in the second mode, a request to transition to the first mode may be received. In response, the vehicle may transition to the first mode. After transitioning to the first driving mode, the vehicle may be prevented from transitioning the first mode to the second mode or the third mode until a predetermined duration has passed even when input is received at one or more of a steering wheel, brake pedal, or accelerator during the predetermined period.

    Adjusting timing of actuation commands to account for fixed and variable delays in autonomous driving control of vehicles
    9.
    发明授权
    Adjusting timing of actuation commands to account for fixed and variable delays in autonomous driving control of vehicles 有权

    公开(公告)号：US11124202B1

    公开(公告)日：2021-09-21

    申请号：US15716888

    申请日：2017-09-27

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash

    IPC: B60W50/06 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/10 ,  B60W50/00

    Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a trajectory is identified. The trajectory defines a future desired path for the vehicle and includes a control requirement having a corresponding point in time. A command for achieving the control requirement is generated. A fixed delay value corresponding to a delay caused by transmission of the command to an actuator of the vehicle is generated. A variable delay value corresponding to a delay caused by an amount of time to change a physical state of the actuator to a desired state according to the command is generated. The command is then sent to the actuator based on the fixed delay value, the variable delay value, and so that the actuator causes the vehicle to move according to the command.

    Detecting and responding to propulsion and steering system errors for autonomous vehicles
    10.
    发明授权
    Detecting and responding to propulsion and steering system errors for autonomous vehicles 有权

    公开(公告)号：US11008011B2

    公开(公告)日：2021-05-18

    申请号：US16563017

    申请日：2019-09-06

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Nolan McPeek-Bechtold

    IPC: G01C22/00 ,  B60W30/188 ,  G05D1/00 ,  B60W10/06 ,  B60W10/02 ,  G05D1/02

    Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.

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