公开(公告)号：US20210276554A1

公开(公告)日：2021-09-09

申请号：US17232680

申请日：2021-04-16

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G01C21/34 ,  G05D1/00

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US11061404B1

公开(公告)日：2021-07-13

申请号：US16210701

申请日：2018-12-05

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Philip Nemec ,  Anne Aula

IPC: B60W30/16 ,  G05D1/02 ,  G05D1/00 ,  B62D15/02

Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

公开(公告)号：US10202118B2

公开(公告)日：2019-02-12

申请号：US15293503

申请日：2016-10-14

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US10168706B1

公开(公告)日：2019-01-01

申请号：US15825883

申请日：2017-11-29

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Philip Nemec ,  Anne Christina Aula

IPC: B60W30/16 ,  G05D1/02 ,  B62D15/02

Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

公开(公告)号：US20180105174A1

公开(公告)日：2018-04-19

申请号：US15293503

申请日：2016-10-14

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W30/18 ,  B60W2400/00 ,  B60W2550/10 ,  B60W2550/20 ,  B60W2720/10 ,  G01C21/3407 ,  G05D1/0214 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/167 ,  G08G1/202

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US09932035B1

公开(公告)日：2018-04-03

申请号：US15173938

申请日：2016-06-06

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Dmitri A. Dolgov

IPC: B60W30/14 ,  G05D1/00

CPC classification number: B60W30/143 ,  B60L2240/00 ,  B60L2240/10 ,  B60L2240/12 ,  B60L2240/14 ,  B60L2240/16 ,  B60T7/042 ,  B60T7/22 ,  B60W30/14 ,  B60W30/146 ,  B60W50/085 ,  B60W2520/10 ,  B60W2550/141 ,  B60W2550/302 ,  B60W2550/306 ,  G05D1/0088

Abstract: Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

公开(公告)号：US12197215B1

公开(公告)日：2025-01-14

申请号：US17677424

申请日：2022-02-22

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Dmitri A. Dolgov ,  Andrew Hughes Chatham ,  Philip Nemec

IPC: G05D1/00 ,  B60R1/00 ,  B60T7/22 ,  B60T8/00 ,  B60T8/17 ,  B60T8/88 ,  B60T17/18 ,  B60T17/22 ,  B60W30/08 ,  B60W40/06 ,  B60W50/14 ,  G01C21/36 ,  G01S17/86 ,  G01S17/931 ,  G06Q10/02 ,  G06Q30/02 ,  G06Q30/0207 ,  G06Q40/08 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T7/521 ,  G06T7/73 ,  G06V20/58 ,  G06V20/64 ,  G07C9/00 ,  B60W30/186 ,  B60W50/029 ,  B62D6/00 ,  G01S13/86 ,  G06V10/20 ,  G06V20/56

Abstract: A system and method are arranged to provide recommendations to a user of a vehicle. In one aspect, the vehicle navigates in an autonomous mode and the sensors provide information that is based on the location of the vehicle and output from sensors directed to the environment surrounding the vehicle. In further aspects, both current and previous sensor data is used to make the recommendations, as well as data based on the sensors of other vehicles.

公开(公告)号：USRE49649E1

公开(公告)日：2023-09-12

申请号：US17138281

申请日：2020-12-30

Applicant: WAYMO LLC

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

IPC: G05D1/02 ,  B60W30/00 ,  G01C21/34 ,  B60W30/12 ,  B60W30/16 ,  B60W50/00

CPC classification number: B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  G01C21/34 ,  G05D1/02 ,  B60W2050/0095 ,  B60W2554/80 ,  B60W2556/50

Abstract: Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.

公开(公告)号：US11745742B2

公开(公告)日：2023-09-05

申请号：US17232680

申请日：2021-04-16

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G01C21/34 ,  G01C21/00 ,  G05D1/00 ,  G08G1/16

CPC classification number: B60W30/18 ,  G01C21/3407 ,  G01C21/3867 ,  G05D1/0088 ,  G05D1/0214 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/202 ,  B60W2400/00 ,  B60W2554/00 ,  B60W2720/10 ,  G08G1/167

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US11720101B1

公开(公告)日：2023-08-08

申请号：US17233622

申请日：2021-04-19

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Sebastian Thrun ,  Luis Ricardo Prada Gomez ,  Christopher Paul Urmson ,  Nathaniel Fairfield ,  Anthony Scott Levandowski

IPC: G05D1/00 ,  G06T7/73 ,  G01S17/931 ,  G05D1/02 ,  G07C9/00 ,  G06T7/521 ,  B60T8/17 ,  B60T8/00 ,  B60T7/22 ,  B60T17/22 ,  B60W50/14 ,  B60T17/18 ,  B60T8/88 ,  B60W40/06 ,  G01S17/86 ,  G06Q10/02 ,  G06Q30/02 ,  G06Q30/0207 ,  G06Q40/08 ,  B60W30/08 ,  G01C21/36 ,  B60R1/00 ,  G06T7/20 ,  G06T7/231 ,  G06T7/223 ,  G06V20/58 ,  G06V20/64 ,  B60W50/029 ,  B60W30/186 ,  G01S13/86 ,  B62D6/00 ,  G06V10/20 ,  G06V20/56

CPC classification number: G05D1/0088 ,  B60R1/00 ,  B60T7/22 ,  B60T8/00 ,  B60T8/17 ,  B60T8/885 ,  B60T17/18 ,  B60T17/221 ,  B60W30/08 ,  B60W40/06 ,  B60W50/14 ,  G01C21/3617 ,  G01S17/86 ,  G01S17/931 ,  G05D1/0055 ,  G05D1/021 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0276 ,  G06Q10/02 ,  G06Q30/02 ,  G06Q30/0207 ,  G06Q40/08 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T7/521 ,  G06T7/74 ,  G06V20/58 ,  G06V20/64 ,  G07C9/00563 ,  B60R2300/30 ,  B60T2201/022 ,  B60T2210/32 ,  B60T2270/406 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2552/05 ,  B60W2555/60 ,  B60W2556/10 ,  B60W2556/50 ,  B62D6/00 ,  G01S13/865 ,  G01S13/867 ,  G05B2219/2637 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0213 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261 ,  G06V10/255 ,  G06V20/56 ,  G06V20/588

Abstract: Aspects of the present disclosure relate generally to limiting the use of an autonomous or semi-autonomous vehicle by particular occupants based on permission data. More specifically, permission data may include destinations, routes, and/or other information that is predefined or set by a third party. The vehicle may then access the permission data in order to transport the particular occupant to the predefined destination, for example, without deviation from the predefined route. The vehicle may drop the particular occupant off at the destination and may wait until the passenger is ready to move to another predefined destination. The permission data may be used to limit the ability of the particular occupant to change the route of the vehicle completely or by some maximum deviation value. For example, the vehicle may be able to deviate from the route up to a particular distance from or along the route.