公开(公告)号：US20240416958A1

公开(公告)日：2024-12-19

申请号：US18815952

申请日：2024-08-27

Applicant: Waymo LLC

Inventor： Jared Russell ,  Jens-Steffen Gutmann ,  Ioan-Alexandru Sucan

IPC: B60W60/00 ,  B60W30/08 ,  G01C21/36 ,  G06V20/58

Abstract: Aspects of the disclosure provide a method of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.

公开(公告)号：US20220176987A1

公开(公告)日：2022-06-09

申请号：US17116422

申请日：2020-12-09

Applicant: Waymo LLC.

Inventor： Jared Russell ,  Jens-Steffen Gutmann ,  Ioan-Alexandru Sucan

IPC: B60W60/00 ,  B60W30/08 ,  G01C21/36 ,  G06K9/00

Abstract: Aspects of the disclosure provide a of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.

公开(公告)号：US12116007B2

公开(公告)日：2024-10-15

申请号：US17116422

申请日：2020-12-09

Applicant: Waymo LLC

Inventor： Jared Russell ,  Jens-Steffen Gutmann ,  Ioan-Alexandru Sucan

IPC: B60W60/00 ,  B60W30/08 ,  G01C21/36 ,  G06V20/58

CPC classification number: B60W60/001 ,  B60W30/08 ,  G01C21/3602 ,  G06V20/582 ,  G06V20/584 ,  B60W2030/082 ,  B60W2420/408 ,  B60W2554/4049

Abstract: Aspects of the disclosure provide a method of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.