公开(公告)号：US20210046910A1

公开(公告)日：2021-02-18

申请号：US17010090

申请日：2020-09-02

Applicant: Waymo LLC

Inventor： Shiying Zhou ,  Jens-Steffen Ralf Gutmann

IPC: B60T8/171 ,  B60T8/17 ,  B60T7/22 ,  B60T8/58

Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. For instance, information identifying a plurality of objects in the vehicle's environment and a confidence value for each of the objects is received. A set of constraints may be generated. That one or more processors are unable to solve for a trajectory given the set of constraints and an acceptable braking limit may be determined. A first constraint is identified as a constraint for which could not be solved and a first confidence value. That the vehicle should apply a maximum braking level is determined based on the identified first confidence value, a threshold, and the determination that the one or more processors are unable to solve for a trajectory. Based on the determination that the vehicle should apply the maximum braking level, the maximum braking level is applied.

公开(公告)号：US10793123B2

公开(公告)日：2020-10-06

申请号：US16151862

申请日：2018-10-04

Applicant: Waymo LLC

Inventor： Shiying Zhou ,  Jens-Steffen Ralf Gutmann

IPC: B60T8/171 ,  B60T8/17 ,  B60T7/22 ,  B60T8/58

Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. For instance, information identifying a plurality of objects in the vehicle's environment and a confidence value for each of the objects is received. A set of constraints may be generated. That one or more processors are unable to solve for a trajectory given the set of constraints and an acceptable braking limit may be determined. A first constraint is identified as a constraint for which could not be solved and a first confidence value. That the vehicle should apply a maximum braking level is determined based on the identified first confidence value, a threshold, and the determination that the one or more processors are unable to solve for a trajectory. Based on the determination that the vehicle should apply the maximum braking level, the maximum braking level is applied.

公开(公告)号：US20220169214A1

公开(公告)日：2022-06-02

申请号：US17567484

申请日：2022-01-03

Applicant: Waymo LLC

Inventor： Shiying Zhou ,  Jens-Steffen Ralf Gutmann

IPC: B60T8/171 ,  B60T8/17 ,  B60T7/22 ,  B60T8/58

Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. For instance, information identifying a plurality of objects in the vehicle's environment and a confidence value for each of the objects is received. A set of constraints may be generated. That one or more processors are unable to solve for a trajectory given the set of constraints and an acceptable braking limit may be determined. A first constraint is identified as a constraint for which could not be solved and a first confidence value. That the vehicle should apply a maximum braking level is determined based on the identified first confidence value, a threshold, and the determination that the one or more processors are unable to solve for a trajectory. Based on the determination that the vehicle should apply the maximum braking level, the maximum braking level is applied.

公开(公告)号：US20200108808A1

公开(公告)日：2020-04-09

申请号：US16151862

申请日：2018-10-04

Applicant: Waymo LLC

Inventor： Shiying Zhou ,  Jens-Steffen Ralf Gutmann

IPC: B60T8/171 ,  B60T8/17 ,  B60T7/22 ,  B60T8/58

Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. For instance, information identifying a plurality of objects in the vehicle's environment and a confidence value for each of the objects is received. A set of constraints may be generated. That one or more processors are unable to solve for a trajectory given the set of constraints and an acceptable braking limit may be determined. A first constraint is identified as a constraint for which could not be solved and a first confidence value. That the vehicle should apply a maximum braking level is determined based on the identified first confidence value, a threshold, and the determination that the one or more processors are unable to solve for a trajectory. Based on the determination that the vehicle should apply the maximum braking level, the maximum braking level is applied.

公开(公告)号：US11242040B2

公开(公告)日：2022-02-08

申请号：US17010090

申请日：2020-09-02

Applicant: Waymo LLC

Inventor： Shiying Zhou ,  Jens-Steffen Ralf Gutmann

IPC: B60T8/171 ,  B60T8/17 ,  B60T7/22 ,  B60T8/58

Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. For instance, information identifying a plurality of objects in the vehicle's environment and a confidence value for each of the objects is received. A set of constraints may be generated. That one or more processors are unable to solve for a trajectory given the set of constraints and an acceptable braking limit may be determined. A first constraint is identified as a constraint for which could not be solved and a first confidence value. That the vehicle should apply a maximum braking level is determined based on the identified first confidence value, a threshold, and the determination that the one or more processors are unable to solve for a trajectory. Based on the determination that the vehicle should apply the maximum braking level, the maximum braking level is applied.