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公开(公告)号：US20240361770A1
公开(公告)日：2024-10-31
申请号：US18766734
申请日：2024-07-09
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
IPC: G05D1/00
CPC classification number: G05D1/0289
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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公开(公告)号：US20220229445A1
公开(公告)日：2022-07-21
申请号：US17712760
申请日：2022-04-04
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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13.发明申请公开(公告)号：US20200326703A1
公开(公告)日：2020-10-15
申请号：US16380398
申请日：2019-04-10
Applicant: Waymo LLC
Abstract: Aspects of the disclosure relate to controlling a vehicle using a simplified model of an object. In one example, sensor data including a plurality of data points corresponding to surfaces of the object in the vehicle's environment may be received from one or more sensors of the vehicle. A first model may be determined using a subset of the plurality of data points. A set of secondary data points may be identified from the plurality of data points using a point on the vehicle. The set of secondary data points may be filtered from the subset of the plurality data points to determine a second model, wherein the second model is a simplified version of the first model. The vehicle may be controlled in an autonomous driving mode based on the second model.
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公开(公告)号：US11938926B2
公开(公告)日：2024-03-26
申请号：US17386113
申请日：2021-07-27
Applicant: Waymo LLC
Inventor： Dong Li , Ioan-Alexandru Sucan , Victor Puchkarev
CPC classification number: B60W30/09 , B60W30/0953 , B60W30/0956 , B60W40/12 , G05D1/0088 , G05D1/0212 , G06V10/44 , G06V20/58 , B60W2422/90 , B60W2554/00 , G05D2201/0213
Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.
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15.发明申请公开(公告)号：US20210278843A1
公开(公告)日：2021-09-09
申请号：US17330601
申请日：2021-05-26
Applicant: Waymo LLC
Abstract: Aspects of the disclosure relate to controlling a vehicle using a simplified model of an object. In one example, sensor data including a plurality of data points corresponding to surfaces of the object in the vehicle's environment may be received from one or more sensors of the vehicle. A first model may be determined using a subset of the plurality of data points. A set of secondary data points may be identified from the plurality of data points using a point on the vehicle. The set of secondary data points may be filtered from the subset of the plurality data points to determine a second model, wherein the second model is a simplified version of the first model. The vehicle may be controlled in an autonomous driving mode based on the second model.
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Patent Agency Ranking
16.发明授权公开(公告)号：US11048254B2
公开(公告)日：2021-06-29
申请号：US16380398
申请日：2019-04-10
Applicant: Waymo LLC
Abstract: Aspects of the disclosure relate to controlling a vehicle using a simplified model of an object. In one example, sensor data including a plurality of data points corresponding to surfaces of the object in the vehicle's environment may be received from one or more sensors of the vehicle. A first model may be determined using a subset of the plurality of data points. A set of secondary data points may be identified from the plurality of data points using a point on the vehicle. The set of secondary data points may be filtered from the subset of the plurality data points to determine a second model, wherein the second model is a simplified version of the first model. The vehicle may be controlled in an autonomous driving mode based on the second model.
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公开(公告)号：US20210053563A1
公开(公告)日：2021-02-25
申请号：US16688017
申请日：2019-11-19
Applicant: Waymo LLC
Inventor： Dong Li , Victor Puchkarev
IPC: B60W30/095 , B60W30/09 , G05D1/02 , G05D1/00
Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.
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公开(公告)号：US20230305577A1
公开(公告)日：2023-09-28
申请号：US18204135
申请日：2023-05-31
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
CPC classification number: G05D1/0289 , G05D1/0223 , G05D1/0088
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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公开(公告)号：US11753045B2
公开(公告)日：2023-09-12
申请号：US17354614
申请日：2021-06-22
Applicant: Waymo LLC
Inventor： Dong Li , Victor Puchkarev
IPC: B60W60/00 , B60W30/095
CPC classification number: B60W60/00274 , B60W30/095 , B60W2554/404 , B60W2720/24
Abstract: Aspects and implementations of the present disclosure relate to modeling of positional uncertainty of moving objects using precomputed polygons, for example, for the purposes of computing autonomous vehicle (AV) trajectories. An example method includes: receiving, by a data processing system of an AV, data descriptive of an agent state of an object; generating a polygon representative of the agent state; identifying extreme vertices of the polygon along a longitudinal axis parallel to a heading direction of the object or along a lateral axis orthogonal to the heading direction; and applying, based on the extreme vertices, at least one expansion transformation to the polygon along the longitudinal axis or the lateral axis to generate a precomputed polygon.
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公开(公告)号：US11709503B2
公开(公告)日：2023-07-25
申请号：US17712760
申请日：2022-04-04
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
CPC classification number: G05D1/0289 , G05D1/0088 , G05D1/0223
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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