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公开(公告)号：US20240151544A1
公开(公告)日：2024-05-09
申请号：US18513884
申请日：2023-11-20
Applicant: Waymo LLC
Inventor： Xu Dong , Jonathan Lee Pedersen , Jakob Robert Zwiener
CPC classification number: G01C21/3461 , B60W30/08 , B60W60/0015 , B60W2554/4048 , B60W2554/80
Abstract: The technology involves pullover maneuvers for vehicles operating in an autonomous driving mode. A vehicle operating in an autonomous driving mode is able to identify parking locations that may be occluded or otherwise not readily visible. A best case estimation for any potential parking locations, including partially or fully occluded areas, is compared against predictions for identified visible parking locations. This can include calculating a cost for each potential parking location and comparing that cost to a baseline cost. Upon determining that an occluded location would provide a more viable option than any visible parking locations, the vehicle is able to initiate a driving adjustment (e.g., slow down) prior to arriving at the occluded location. This enables the vehicle to minimize passenger discomfort while also providing notice to other road users of an intent to pull over.
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Patent Agency Ranking
公开(公告)号：US20230064179A1
公开(公告)日：2023-03-02
申请号：US17410022
申请日：2021-08-24
Applicant: Waymo LLC
Inventor： Xu Dong , Jonathan Lee Pedersen , Jakob Robert Zwiener
Abstract: The technology involves pullover maneuvers for vehicles operating in an autonomous driving mode. A vehicle operating in an autonomous driving mode is able to identify parking locations that may be occluded or otherwise not readily visible. A best case estimation for any potential parking locations, including partially or fully occluded areas, is compared against predictions for identified visible parking locations. This can include calculating a cost for each potential parking location and comparing that cost to a baseline cost. Upon determining that an occluded location would provide a more viable option than any visible parking locations, the vehicle is able to initiate a driving adjustment (e.g., slow down) prior to arriving at the occluded location. This enables the vehicle to minimize passenger discomfort while also providing notice to other road users of an intent to pull over.
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公开(公告)号：US12071162B2
公开(公告)日：2024-08-27
申请号：US17491068
申请日：2021-09-30
Applicant: Waymo LLC
Inventor： Jonathan Lee Pedersen , Yu Zheng , Eamonn Michael Doherty , Brian Clair Williammee , Kevin Joseph Malta , Chung Eun Kim , Xu Dong
CPC classification number: B60W60/0016 , B60W30/181 , B60W40/06 , G06N20/00 , B60W2552/45 , B60W2555/60
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selecting a pull-over location using machine learning. One of the methods includes obtaining data specifying a target pull-over location for an autonomous vehicle travelling on a roadway. A plurality of candidate pull-over locations in a vicinity of the target pull-over location are identified. For each candidate pull-over location, an input that includes features of the candidate pull-over location is processed using a machine learning model to generate a respective likelihood score representing a predicted likelihood that the candidate pull-over location is an optimal location. The features of the candidate pull-over location include one or more features that compare the candidate pull-over location to the target pull-over location. Using the respective likelihood scores, one of the candidate pull-over locations is selected as an actual pull-over location for the autonomous vehicle.
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公开(公告)号：US11859989B2
公开(公告)日：2024-01-02
申请号：US17410022
申请日：2021-08-24
Applicant: Waymo LLC
Inventor： Xu Dong , Jonathan Lee Pedersen , Jakob Robert Zwiener
CPC classification number: G01C21/3461 , B60W30/08 , B60W60/0015 , B60W2554/4048 , B60W2554/80
Abstract: The technology involves pullover maneuvers for vehicles operating in an autonomous driving mode. A vehicle operating in an autonomous driving mode is able to identify parking locations that may be occluded or otherwise not readily visible. A best case estimation for any potential parking locations, including partially or fully occluded areas, is compared against predictions for identified visible parking locations. This can include calculating a cost for each potential parking location and comparing that cost to a baseline cost. Upon determining that an occluded location would provide a more viable option than any visible parking locations, the vehicle is able to initiate a driving adjustment (e.g., slow down) prior to arriving at the occluded location. This enables the vehicle to minimize passenger discomfort while also providing notice to other road users of an intent to pull over.
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公开(公告)号：US20240375684A1
公开(公告)日：2024-11-14
申请号：US18784780
申请日：2024-07-25
Applicant: Waymo LLC
Inventor： Jonathan Lee Pedersen , Yu Zheng , Eamonn Michael Doherty , Brian Clair Williammee , Kevin Joseph Malta , Chung Eun Kim , Xu Dong
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selecting a pull-over location using machine learning. One of the methods includes obtaining data specifying a target pull-over location for an autonomous vehicle travelling on a roadway. A plurality of candidate pull-over locations in a vicinity of the target pull-over location are identified. For each candidate pull-over location, an input that includes features of the candidate pull-over location is processed using a machine learning model to generate a respective likelihood score representing a predicted likelihood that the candidate pull-over location is an optimal location. The features of the candidate pull-over location include one or more features that compare the candidate pull-over location to the target pull-over location. Using the respective likelihood scores, one of the candidate pull-over locations is selected as an actual pull-over location for the autonomous vehicle.
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公开(公告)号：US20230099334A1
公开(公告)日：2023-03-30
申请号：US17491068
申请日：2021-09-30
Applicant: Waymo LLC
Inventor： Jonathan Lee Pedersen , Yu Zheng , Eamonn Michael Doherty , Brian Clair Williammee , Kevin Joseph Malta , Chung Eun Kim , Xu Dong
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selecting a pull-over location using machine learning. One of the methods includes obtaining data specifying a target pull-over location for an autonomous vehicle travelling on a roadway. A plurality of candidate pull-over locations in a vicinity of the target pull-over location are identified. For each candidate pull-over location, an input that includes features of the candidate pull-over location is processed using a machine learning model to generate a respective likelihood score representing a predicted likelihood that the candidate pull-over location is an optimal location. The features of the candidate pull-over location include one or more features that compare the candidate pull-over location to the target pull-over location. Using the respective likelihood scores, one of the candidate pull-over locations is selected as an actual pull-over location for the autonomous vehicle.
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