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.

公开(公告)号：US20240025446A1

公开(公告)日：2024-01-25

申请号：US17894812

申请日：2022-08-24

Applicant: Waymo LLC

Inventor： Diomidis Katzourakis ,  John P. Alsterda ,  Rami Y. Hindiyeh ,  Robert Chen ,  Carson Schultz

IPC: B60W60/00

CPC classification number: B60W60/0015 ,  B60W2552/05 ,  B60W2555/20 ,  B60W2552/40 ,  B60W2556/10

Abstract: A method includes obtaining road patch type data associated with at least one road patch type, deriving, from the road patch type data, a set of road patch type parameters for the at least one road patch type, generating, based on the set of road patch type parameters, a set of risk metrics, each risk metric of the set of risk metrics corresponding to a respective road patch type parameter of the set of road patch type parameters, identifying, based at least in part on the set of risk metrics, a set of autonomous vehicle (AV) motion planning constraints selected for the at least one road patch type, and providing the set of AV motion planning constraints to update motion planning functionality performed by at least one component of an AV.

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

IPC: B60W60/00 ,  G01C21/34 ,  G01C21/36 ,  G06V20/56

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.

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

IPC: B60W60/00 ,  G01C21/34 ,  G01C21/36 ,  G06V20/56

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.

公开(公告)号：US11427226B1

公开(公告)日：2022-08-30

申请号：US17122006

申请日：2020-12-15

Applicant: WAYMO LLC

Inventor： Jennifer Iglesias ,  Diomidis Katzourakis ,  Kerrie Wu ,  Bruce Lin

IPC: B60W60/00 ,  B62D15/02 ,  B60W50/16 ,  B60W50/14

Abstract: The technology involves determining a minimum lateral gap distance between a vehicle configured for autonomous driving and one or more other objects in the vehicle's environment. The minimum lateral gap is used when determining whether to have a driver take over control of certain driving operations. This provides a measure of safety during disengagements or other change of control events. Determining the minimum lateral gap includes calculating a budgeted distance based on a cross-track error for a lateral position of the vehicle, an allowed actual gap distance to an object in the vehicle's environment, and a perception error associated with a location of the object in the vehicle's environment. This determination can be done for a set of possible operating speeds and steering rate limit combinations. The vehicle's control system may notify the driver to take control, for instance with audible, visual and/or haptic notifications.