公开(公告)号：US11693405B2

公开(公告)日：2023-07-04

申请号：US17037924

申请日：2020-09-30

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

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0077 ,  G05D1/0088 ,  G05D1/0212 ,  G05D1/0223

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.

公开(公告)号：US20200094850A1

公开(公告)日：2020-03-26

申请号：US16139538

申请日：2018-09-24

Applicant: Waymo LLC

Inventor： Emily Chi ,  Ryan Joseph Andrade

IPC: B60W50/029 ,  G05D1/00

Abstract: The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.

公开(公告)号：US20240239356A1

公开(公告)日：2024-07-18

申请号：US18423940

申请日：2024-01-26

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 ,  G05D1/228

CPC classification number: B60W50/029 ,  B60W10/04 ,  B60W10/20 ,  B60W50/0205 ,  G05D1/228 ,  B60W2050/0215 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2420/54 ,  B60W2710/20 ,  B60W2720/106

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.

公开(公告)号：US20220153286A1

公开(公告)日：2022-05-19

申请号：US17532547

申请日：2021-11-22

Applicant: Waymo LLC

Inventor： Emily Chi ,  Ryan Joseph Andrade

IPC: B60W50/029 ,  G05D1/00 ,  G08G1/00 ,  B60W60/00

Abstract: The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.

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

IPC: G05D1/00 ,  G05D1/02

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.

公开(公告)号：US11214272B2

公开(公告)日：2022-01-04

申请号：US16139538

申请日：2018-09-24

Applicant: Waymo LLC

Inventor： Emily Chi ,  Ryan Joseph Andrade

IPC: B60W50/029 ,  G05D1/00 ,  G08G1/00 ,  B60W60/00

Abstract: The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.

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.

公开(公告)号：US11062537B2

公开(公告)日：2021-07-13

申请号：US15908113

申请日：2018-02-28

Applicant: Waymo LLC

Inventor： Ryan Joseph Andrade ,  Ryan Cash ,  Peter Colijn ,  Laurens Andreas Feenstra ,  Congyu Gao ,  Dirk Haehnel ,  Steven Reis ,  Omari Stephens

IPC: G07C5/08 ,  G05D1/02 ,  G05D1/00 ,  B60W30/182 ,  B60W40/02 ,  G07C5/00 ,  G06Q10/08 ,  G06Q10/06

Abstract: Aspects of the disclosure relate to determining vehicle operation modes for a fleet of vehicles. This may include maintaining a storage system including vehicle parameters for a vehicle fleet such that each vehicle of the fleet is associated with a set of vehicle parameters. The vehicle operation mode may be determined by selecting one of a plurality of vehicle operation levels arranged in a hierarchy or by identifying a set of tags where each level or tag corresponds to a vehicle driving capability. The determined vehicle operation mode may be communicated to the given vehicle in order to cause the vehicle to operate according to the determined vehicle operation mode.

公开(公告)号：US20240166220A1

公开(公告)日：2024-05-23

申请号：US18535532

申请日：2023-12-11

Applicant: WAYMO LLC

Inventor： Emily Chi ,  Ryan Joseph Andrade

IPC: B60W50/029 ,  B60W60/00 ,  G05D1/228 ,  G05D1/617 ,  G08G1/00

CPC classification number: B60W50/029 ,  B60W60/0024 ,  B60W60/00253 ,  B60W60/00256 ,  G05D1/228 ,  G05D1/617 ,  G08G1/202 ,  B60W2050/0292

Abstract: The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.

公开(公告)号：US11878703B2

公开(公告)日：2024-01-23

申请号：US17532547

申请日：2021-11-22

Applicant: Waymo LLC

Inventor： Emily Chi ,  Ryan Joseph Andrade

IPC: B60W50/029 ,  G08G1/00 ,  B60W60/00 ,  G05D1/00

CPC classification number: B60W50/029 ,  B60W60/0024 ,  B60W60/00253 ,  B60W60/00256 ,  G05D1/0072 ,  G05D1/0088 ,  G08G1/202 ,  B60W2050/0292 ,  G05D2201/0213

Abstract: A method for determining a pullover spot for a vehicle is described. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.