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    Testing Predictions For Autonomous Vehicles
    3.
    发明申请
    Testing Predictions For Autonomous Vehicles 有权

    公开(公告)号：US20210001840A1

    公开(公告)日：2021-01-07

    申请号：US16937761

    申请日：2020-07-24

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Vadim Furman

    IPC: B60W30/09 ,  B60W30/18 ,  G05D1/02 ,  G08G1/16

    Abstract: Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

    Remote Assistance for Autonomous Vehicles in Predetermined Situations
    4.
    发明申请
    Remote Assistance for Autonomous Vehicles in Predetermined Situations 审中-公开

    公开(公告)号：US20190171202A1

    公开(公告)日：2019-06-06

    申请号：US16270271

    申请日：2019-02-07

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach ,  Vadim Furman

    IPC: G05D1/00 ,  B60W30/00

    Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.

    USING DISCOMFORT FOR SPEED PLANNING IN AUTONOMOUS VEHICLES
    5.
    发明申请
    USING DISCOMFORT FOR SPEED PLANNING IN AUTONOMOUS VEHICLES 审中-公开

    公开(公告)号：US20190155292A1

    公开(公告)日：2019-05-23

    申请号：US15820757

    申请日：2017-11-22

    Applicant: Waymo LLC

    Inventor： Jens-Steffen Ralf Gutmann ,  Tobias Kunz ,  Vadim Furman

    IPC: G05D1/02 ,  G05D1/00

    Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be identified. Determining a speed profile for the geometry that meets the value may be attempted by determining a discomfort value for the speed profile based on a set of factors relating to at least discomfort of a passenger of the first vehicle and discomfort of a passenger of the second vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.

    Testing predictions for autonomous vehicles
    6.
    发明授权
    Testing predictions for autonomous vehicles 有权

    公开(公告)号：US10093311B2

    公开(公告)日：2018-10-09

    申请号：US15202698

    申请日：2016-07-06

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Vadim Furman

    IPC: G05D1/02 ,  B60W40/09 ,  B60W30/09 ,  B60W30/18 ,  G08G1/16

    Abstract: Testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway is provided. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

    Handling sensor occlusions for autonomous vehicles
    7.
    发明授权
    Handling sensor occlusions for autonomous vehicles 有权

    公开(公告)号：US12233852B1

    公开(公告)日：2025-02-25

    申请号：US18605292

    申请日：2024-03-14

    Applicant: Waymo LLC

    Inventor： Brandon Douglas Luders ,  Vadim Furman ,  Nathaniel Fairfield

    IPC: B60W30/00 ,  G01S13/931 ,  G01S17/00 ,  G01S17/931 ,  G05D1/00 ,  G06V20/56 ,  G08G1/16

    Abstract: The technology relates to identifying sensor occlusions due to the limits of the ranges of a vehicle's sensors and using this information to maneuver the vehicle. As an example, the vehicle is maneuvered along a route that includes traveling on a first roadway and crossing over a lane of a second roadway. A trajectory is identified from the lane that will cross with the route during the crossing at a first point. A second point beyond a range of the vehicle's sensors is selected. The second point corresponds to a hypothetical vehicle moving towards the route along the lane. A distance between the first point and the second point is determined. An amount of time that it would take the hypothetical vehicle to travel the distance is determined and compared to a threshold amount of time. The vehicle is maneuvered based on the comparison to complete the crossing.

    Handling sensor occlusions for autonomous vehicles
    8.
    发明授权
    Handling sensor occlusions for autonomous vehicles 有权

    公开(公告)号：US10705526B1

    公开(公告)日：2020-07-07

    申请号：US16162978

    申请日：2018-10-17

    Applicant: Waymo LLC

    Inventor： Brandon Douglas Luders ,  Vadim Furman ,  Nathaniel Fairfield

    IPC: G05D1/00 ,  G05D1/02

    Abstract: The technology relates to identifying sensor occlusions due to the limits of the ranges of a vehicle's sensors and using this information to maneuver the vehicle. As an example, the vehicle is maneuvered along a route that includes traveling on a first roadway and crossing over a lane of a second roadway. A trajectory is identified from the lane that will cross with the route during the crossing at a first point. A second point beyond a range of the vehicle's sensors is selected. The second point corresponds to a hypothetical vehicle moving towards the route along the lane. A distance between the first point and the second point is determined. An amount of time that it would take the hypothetical vehicle to travel the distance is determined and compared to a threshold amount of time. The vehicle is maneuvered based on the comparison to complete the crossing.

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