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公开(公告)号：US11703875B2
公开(公告)日：2023-07-18
申请号：US17318159
申请日：2021-05-12
Applicant: Waymo LLC
Inventor： Daniel Trawick Egnor , Nolan McPeek-Bechtold , James Harris , Andrew Barton-Sweeney , Ruslan Kurdyumov , Spencer Alexander , Ryan Cash
IPC: G05D1/02 , B60W30/09 , B60T8/32 , G05D1/00 , B60W30/095
CPC classification number: G05D1/0223 , B60T8/321 , B60W30/09 , B60W30/0953 , G05D1/0088 , G05D2201/0213
Abstract: A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.
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公开(公告)号：US11693405B2
公开(公告)日：2023-07-04
申请号：US17037924
申请日：2020-09-30
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Michael James , Ioan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
CPC classification number: G05D1/0077 , G05D1/0088 , G05D1/0212 , G05D1/0223
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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公开(公告)号：US10710565B2
公开(公告)日：2020-07-14
申请号：US16156441
申请日：2018-10-10
Applicant: Waymo LLC
Inventor： Daniel Trawick Egnor , Nolan McPeek-Bechtold , James Harris , Andrew Barton-Sweeney , Ruslan Kurdyumov , Spencer Alexander
IPC: B60T8/94 , B60T7/12 , B60T8/32 , B60T8/17 , B60T8/1761
Abstract: The disclosure relates to controlling braking behaviors a vehicle in an autonomous driving mode in the event of a hydraulic system failure. For instance, the vehicle may be controlled in the autonomous driving mode according to a first braking control behavior based on a first relationship between position of a brake pedal of the vehicle and amount of deceleration for the vehicle. While controlling the vehicle, a failure of a hydraulic system may be determined. Based on the determination, the vehicle may be controlled in the autonomous driving mode according to a second braking control behavior by moving the brake pedal until the vehicle reaches a deceleration target defined by the second braking control behavior.
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公开(公告)号：US12195046B2
公开(公告)日：2025-01-14
申请号：US17364289
申请日：2021-06-30
Applicant: Waymo LLC
Inventor： Joshua P Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: B60W60/00
Abstract: A method includes identifying mass distribution data of an autonomous vehicle (AV). The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes determining, based on the mass distribution data, one or more handling maneuver limits for the AV. The method further includes causing the AV to travel a route based on the one or more handling maneuver limits.
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公开(公告)号：US20230249709A1
公开(公告)日：2023-08-10
申请号：US18296657
申请日：2023-04-06
Applicant: Waymo LLC
Inventor： Diomidis Katzourakis , Andrew Barton-Sweeney , Rami Hindiyeh , Peter Greene , Vadim Butakov
CPC classification number: B60W60/001 , G01C21/3461 , G01C21/3691 , G06V20/56 , B60W2552/20 , B60W2520/105 , B60W2520/125
Abstract: The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.
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Patent Agency Ranking
公开(公告)号：US11654932B2
公开(公告)日：2023-05-23
申请号：US17135259
申请日：2020-12-28
Applicant: WAYMO LLC
Inventor： Diomidis Katzourakis , Andrew Barton-Sweeney , Rami Hindiyeh , Peter Greene , Vadim Butakov
CPC classification number: B60W60/001 , G01C21/3461 , G01C21/3691 , G06V20/56 , B60W2520/105 , B60W2520/125 , B60W2552/20
Abstract: The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.
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公开(公告)号：US20210325896A1
公开(公告)日：2021-10-21
申请号：US17318159
申请日：2021-05-12
Applicant: Waymo LLC
Inventor： Daniel Trawick Egnor , Nolan McPeek-Bechtold , James Harris , Andrew Barton-Sweeney , Ruslan Kurdyumov , Spencer Alexander , Ryan Cash
IPC: G05D1/02 , B60W30/09 , B60T8/32 , G05D1/00 , B60W30/095
Abstract: A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.
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公开(公告)号：US11036234B2
公开(公告)日：2021-06-15
申请号：US16158718
申请日：2018-10-12
Applicant: Waymo LLC
Inventor： Daniel Trawick Egnor , Nolan McPeek-Bechtold , James Harris , Andrew Barton-Sweeney , Ruslan Kurdyumov , Spencer Alexander , Ryan Cash
IPC: G05D1/02 , B60W30/09 , B60T8/32 , G05D1/00 , B60W30/095
Abstract: A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.
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公开(公告)号：US20210048816A1
公开(公告)日：2021-02-18
申请号：US17037924
申请日：2020-09-30
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Michael James , loan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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公开(公告)号：US20200114889A1
公开(公告)日：2020-04-16
申请号：US16156441
申请日：2018-10-10
Applicant: Waymo LLC
Inventor： Daniel Trawick Egnor , Nolan McPeek-Bechtold , James Harris , Andrew Barton-Sweeney , Ruslan Kurdyumov , Spencer Alexander
IPC: B60T8/94 , B60T7/12 , B60T8/32 , B60T8/1761 , B60T8/17
Abstract: The disclosure relates to controlling braking behaviors a vehicle in an autonomous driving mode in the event of a hydraulic system failure. For instance, the vehicle may be controlled in the autonomous driving mode according to a first braking control behavior based on a first relationship between position of a brake pedal of the vehicle and amount of deceleration for the vehicle. While controlling the vehicle, a failure of a hydraulic system may be determined. Based on the determination, the vehicle may be controlled in the autonomous driving mode according to a second braking control behavior by moving the brake pedal until the vehicle reaches a deceleration target defined by the second braking control behavior.
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