公开(公告)号：US20250076881A1

公开(公告)日：2025-03-06

申请号：US18459537

申请日：2023-09-01

Applicant: Waymo LLC

Inventor： Son-Ca Nguyen ,  Ganesh Balachandran ,  Renaud-Roland Hubert ,  Victor Chan ,  Celia Zhang ,  Steven Kleiser ,  Kai Ying ,  Kerry Chen ,  Alfred Wang

IPC: G05D1/02

Abstract: Aspects of the disclosure provide for enabling distribution or prepositioning of roadside assistance vehicles within a service area for a fleet of autonomous vehicles. For instance, a clustering approach may be used to determine an assignment identifying a plurality of cluster locations and respective assigned ones of the roadside assistance vehicles. The clustering approach uses a number of clusters corresponding to the number of the roadside assistance vehicles. Distribution information may be sent to computing devices associated with technicians of the respective assigned ones of the roadside assistance vehicles. The distribution information may enable the technicians of the respective assigned ones of the roadside assistance vehicles to proceed to the cluster locations of the determined assignment.

公开(公告)号：US20250074462A1

公开(公告)日：2025-03-06

申请号：US18239168

申请日：2023-08-29

Applicant: Waymo LLC

Inventor： Qiwu Zou ,  Menghui Wang

IPC: B60W60/00

Abstract: Embodiments of the present disclosure relate to configuration-based sampling of run segments for simulating autonomous vehicle behavior. In at least one implementation, a method comprises: providing a set of run segments corresponding to scenarios for simulating operation of an autonomous vehicle; receiving a user-specified configuration comprising parameters for identifying target run segments within the set of run segments; applying the user-specified configuration to the set of run segments to identify the target run segments; and causing one or more simulations to be performed using the target run segments to generate a simulation output.

公开(公告)号：US20250065921A1

公开(公告)日：2025-02-27

申请号：US18237384

申请日：2023-08-23

Applicant: Waymo LLC

Inventor： Khaled Refaat ,  Nigamaa Nayakanti

IPC: B60W60/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for intervention behavior prediction. One of the methods includes receiving data characterizing a scene that includes a first agent and a second agent in an environment and receiving intervention data specifying a planned intervention to be performed by the second agent. A conditional behavior prediction output that assigns, to each of a plurality of possible future behaviors, (i) a respective conditional likelihood that the first agent performs the possible future behavior given that the second agent performs the planned intervention and (ii) a predicted value of a confounder variable for the possible future behavior is generated using a conditional behavior prediction model. An intervention behavior prediction for the first agent is generated by, for each possible future behavior, generating a corrected likelihood for the possible future behavior based on the respective conditional likelihood for the possible future behavior and the predicted value of the confounder variable for the possible future behavior.

公开(公告)号：US12236327B1

公开(公告)日：2025-02-25

申请号：US18536876

申请日：2023-12-12

Applicant: WAYMO LLC

Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov

IPC: B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W50/00 ,  B60W60/00 ,  G05D1/00 ,  G06N3/00 ,  G06N20/00 ,  G06V20/56 ,  G06V20/58 ,  G08G1/0962 ,  G08G1/0967 ,  G08G1/16 ,  G01R19/25 ,  G06V10/20

Abstract: A method and apparatus are provided for determining one or more behavior models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the behavior models. The server may determine the behavior models according to a given object classification, actions of interest performed by the object, and the object's perceived surroundings.

公开(公告)号：US20250052859A1

公开(公告)日：2025-02-13

申请号：US18930591

申请日：2024-10-29

Applicant: Waymo LLC

Inventor： Clayton Kunz ,  Timothy Campbell

IPC: G01S7/292 ,  G01S7/295 ,  G01S13/58 ,  G01S13/86 ,  G01S13/931

Abstract: Example embodiments relate to radar reflection filtering using a vehicle sensor system. A computing device may detect a first object in radar data from a radar unit coupled to a vehicle and, responsive to determining that information corresponding to the first object is unavailable from other vehicle sensors, use the radar data to determine a position and a velocity for the first object relative to the radar unit. The computing device may also detect a second object aligned with a vector extending between the radar unit and the first object. Based on a geometric relationship between the vehicle, the first object, and the second object, the computing device may determine that the first object is a self-reflection of the vehicle caused at least in part by the second object and control the vehicle based on this determination.

公开(公告)号：US12223778B2

公开(公告)日：2025-02-11

申请号：US17143706

申请日：2021-01-07

Applicant: Waymo LLC

Inventor： Dmitri Dolgov ,  Joshua Herbach

IPC: G07C5/00 ,  B60W30/00 ,  G05D1/00

Abstract: Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating in a rewind mode. In the rewind mode, the system may be configured to provide information to a remote assistance operated based on a remote-assistance triggering criteria being met, such as determining that the autonomous vehicle has been stopped for a period of time. When the triggering criteria is met, the remote assistance system may provide data from the time leading up to when the remote-assistance triggering criteria was met that was capture of the environment of autonomous vehicle to the remote assistance operator. Based on viewing the data, the remote assistance operator may provide and input to the system that causes a command to be issued to the autonomous vehicle.

公开(公告)号：US12217168B2

公开(公告)日：2025-02-04

申请号：US17099656

申请日：2020-11-16

Applicant: Waymo LLC

Inventor： Jiyang Gao ,  Yi Shen ,  Hang Zhao ,  Chen Sun

IPC: G06N3/00 ,  G01C21/00 ,  G06N3/08 ,  G05D1/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using vectorized inputs.

公开(公告)号：US20250035844A1

公开(公告)日：2025-01-30

申请号：US18917449

申请日：2024-10-16

Applicant: Waymo LLC

Inventor： James Dunphy ,  David Hutchison ,  Pierre-Yves Droz ,  Yeh-Jiun Tung

IPC: G02B6/125 ,  G01S7/481 ,  G01S17/10 ,  G01S17/42 ,  G02B6/122 ,  G02B6/42

Abstract: One example LIDAR device comprises a substrate and a waveguide disposed on the substrate. A first section of the waveguide extends lengthwise on the substrate in a first direction. A second section of the waveguide extends lengthwise on the substrate in a second direction different than the first direction. A third section of the waveguide extends lengthwise on the substrate in a third direction different than the second direction. The second section extends lengthwise between the first section and the second section. The LIDAR device also comprises a light emitter configured to emit light. The waveguide is configured to guide the light inside the first section toward the second section, inside the second section toward the third section, and inside the third section away from the second section.

公开(公告)号：US12208762B2

公开(公告)日：2025-01-28

申请号：US18543324

申请日：2023-12-18

Applicant: Waymo LLC

Inventor： Courtney McCool

IPC: B60R21/20 ,  B60R21/0134 ,  B60R21/015 ,  B60R21/264 ,  B60R21/01 ,  B60R21/02

Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.

公开(公告)号：US12204333B2

公开(公告)日：2025-01-21

申请号：US17191491

申请日：2021-03-03

Applicant: Waymo LLC

Inventor： Khaled Refaat ,  Kai Ding

IPC: G05D1/02 ,  G05D1/00

Abstract: Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.