公开(公告)号：US11733696B2

公开(公告)日：2023-08-22

申请号：US16932016

申请日：2020-07-17

Applicant: Waymo LLC

Inventor： Carl Yang ,  Jialiu Lin ,  Austin Abrams ,  Vishay Nihalani

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0061 ,  G05D1/0214 ,  G05D1/0278 ,  G05D1/0282

Abstract: Aspects of the disclosure provide for determining whether a vehicle is in a loop for an autonomous vehicle. For instance, a route from a current location of the vehicle to a destination for a trip may be generated. Locations traversed by the vehicle during the trip may be tracked. Locations of the route may be compared to the tracked locations to determine an overlap value. Whether the vehicle is in a loop may be determined based on the overlap value.

公开(公告)号：US11725954B2

公开(公告)日：2023-08-15

申请号：US16987893

申请日：2020-08-07

Applicant: Waymo LLC

Inventor： Andrew Chan ,  Austin Abrams ,  Joshua Herbach

IPC: G01C21/34 ,  G08G1/0968 ,  G05D1/02

CPC classification number: G01C21/3484 ,  G01C21/3446 ,  G05D1/0285 ,  G08G1/096827

Abstract: Aspects of the disclosure relate to pre-computing routes for autonomous vehicles using map shards. For example, a shard from a plurality of shards of a map may be selected. Each shard including a plurality of nodes and edges connecting pairs of nodes of the plurality of nodes, and each node of the plurality represents a location. A plurality of port nodes for the shard are identified. Each port node has an edge that enters into the selected shard or exists the selected shard. For each port node of the plurality having an edge that enters into the selected shard, optimal routes to each other port node of the plurality having an edge that exits the selected shard may be determined. The optimal routes for the selected shard may be sent to the autonomous vehicles in order to enable the autonomous vehicles to use the optimal routes to determine routes.

公开(公告)号：US20220019220A1

公开(公告)日：2022-01-20

申请号：US16932016

申请日：2020-07-17

Applicant: Waymo LLC

Inventor： Carl Yang ,  Jialiu Lin ,  Austin Abrams ,  Vishay Nihalani

IPC: G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure provide for determining whether a vehicle is in a loop for an autonomous vehicle. For instance, a route from a current location of the vehicle to a destination for a trip may be generated. Locations traversed by the vehicle during the trip may be tracked. Locations of the route may be compared to the tracked locations to determine an overlap value. Whether the vehicle is in a loop may be determined based on the overlap value.

公开(公告)号：US20210197852A1

公开(公告)日：2021-07-01

申请号：US17120353

申请日：2020-12-14

Applicant: WAYMO LLC

Inventor： Nathaniel Fairfield ,  Benjamin Pitzer ,  Austin Abrams ,  Christopher Bowen

IPC: B60W60/00 ,  B60W40/04 ,  B60W30/18 ,  G01C21/34

Abstract: The technology relates to route planning and performing driving operations in autonomous vehicles, such as cargo trucks, articulating buses, as well as other vehicles. A detailed kinematic model of the vehicle in evaluated in conjunction with roadgraph and other information to determine whether a route or driving operation is feasible for the vehicle. This can include evaluating a hierarchical set of driving rules and whether current driving conditions impact any of the rules. Driving trajectories and cost can be evaluated when pre-planning a route for the vehicle to follow. This can include determining an ideal trajectory for the vehicle to take a particular driving action. Pre-planned routes may be shared with a fleet of vehicles, and can be modified based on information obtained by different vehicles of the fleet.