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公开(公告)号：US11834076B2
公开(公告)日：2023-12-05
申请号：US17359861
申请日：2021-06-28
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Xin Liu , Luyuan Lin , Brandon Douglas Luders
CPC classification number: B60W60/0027 , G05D1/0214 , B60W2510/18 , B60W2552/05 , B60W2552/10 , B60W2552/20 , B60W2554/20 , B60W2554/402 , B60W2554/4041 , B60W2554/4042 , B60W2554/4045 , G05D2201/0213
Abstract: Sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.
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公开(公告)号：US11760354B2
公开(公告)日：2023-09-19
申请号：US17330736
申请日：2021-05-26
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Brandon Luders
IPC: B60W30/18 , B60W30/095 , G06K9/00 , G06V20/58
CPC classification number: B60W30/18154 , B60W30/0956 , G06V20/584 , B60W2554/4041 , B60W2554/804
Abstract: Aspects of the disclosure relate to a method of controlling a vehicle having an autonomous driving mode at a multi-way stop intersection. For instance, that the vehicle has come to a stop at a multi-stop intersection may be determined. At least one road user at the intersection may be identified. Based on the determination that the vehicle has come to the stop, a period of time to wait for the at least one road user to proceed through the intersection may be determined. After waiting the determined period of time, that the at least one road user has not begun to proceed through the intersection may be determined. Based on the determination that the at least one user has not begun to proceed through the intersection, the vehicle may be controlled in the autonomous driving mode in order to proceed through the intersection.
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公开(公告)号：US20220410937A1
公开(公告)日：2022-12-29
申请号：US17359861
申请日：2021-06-28
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Xin Liu , Luyuan Lin , Brandon Douglas Luders
Abstract: Aspects of the disclosure may enable autonomous vehicles to respond to emergency vehicles. For instance, sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.
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公开(公告)号：US20200377101A1
公开(公告)日：2020-12-03
申请号：US16427520
申请日：2019-05-31
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Brandon Luders
IPC: B60W30/18 , B60W30/095 , G06K9/00
Abstract: Aspects of the disclosure relate to a method of controlling a vehicle having an autonomous driving mode at a multi-way stop intersection. For instance, that the vehicle has come to a stop at a multi-stop intersection may be determined. At least one road user at the intersection may be identified. Based on the determination that the vehicle has come to the stop, a period of time to wait for the at least one road user to proceed through the intersection may be determined. After waiting the determined period of time, that the at least one road user has not begun to proceed through the intersection may be determined. Based on the determination that the at least one user has not begun to proceed through the intersection, the vehicle may be controlled in the autonomous driving mode in order to proceed through the intersection.
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