公开(公告)号：US11460848B1

公开(公告)日：2022-10-04

申请号：US16211821

申请日：2018-12-06

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Guillaume Dupre

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/01

Abstract: The technology relates to adjusting a trajectory of an autonomous vehicle. In one example, one or more processors are configured to determine a current trajectory and an alternate trajectory of the autonomous vehicle. The one or more processors select a segment of the current trajectory and a segment of the alternate trajectory and determine, for each of the segments, a total expected value of an estimated length of time to traverse the respective segment. The one or more processors may then select one of the segments having the lowest expected value and maneuver the autonomous vehicle along at least a portion of the selected segment.

公开(公告)号：US11192545B1

公开(公告)日：2021-12-07

申请号：US16210652

申请日：2018-12-05

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz

IPC: B60W30/09 ,  B60W30/095 ,  G05D1/00 ,  G05D1/02 ,  B60W30/182

Abstract: A first driving solution for a vehicle along a portion of a route is determined based on an agent detected in the vehicle's environment following a first trajectory of a plurality of possible trajectories. A switching time is determined for the vehicle to deviate from the first driving solution for a situation in which the agent is following a second trajectory of the plurality of possible trajectories. The first driving solution is revised such that the vehicle will be able to switch from the revised first driving solution to another driving solution at the switching time in case if the detected agent is following the second trajectory.

公开(公告)号：US20210286985A1

公开(公告)日：2021-09-16

申请号：US17330511

申请日：2021-05-26

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Kai Ding

IPC: G06K9/00 ,  B60W30/095 ,  G08G1/16 ,  G05D1/02 ,  G05D1/00

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.

公开(公告)号：US20200004256A1

公开(公告)日：2020-01-02

申请号：US16513063

申请日：2019-07-16

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Fang Da

IPC: G05D1/02 ,  G05D1/00

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.

公开(公告)号：US20180052000A1

公开(公告)日：2018-02-22

申请号：US15286153

申请日：2016-10-05

Applicant: Waymo LLC

Inventor： Daniel Lynn Larner ,  Jared Stephen Russell

IPC: G01C21/34 ,  G05D1/00 ,  G05D1/02 ,  B60W30/02

CPC classification number: G01C21/3484 ,  B60W30/025 ,  G01C21/3461 ,  G05D1/0088 ,  G05D1/0212

Abstract: The disclosure provides for a method for determining a route for passenger comfort and operating a vehicle according to the determined route. To start, a set of routes from a start location to an end location may be determined. Each route includes one or more portions. For each route of the set of routes, a total motion sickness value is determined based on a sway motion sickness value, a surge motion sickness value, and a heave motion sickness value for each of the given portions. The total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in a vehicle along the route. A route may then be selected from the set of routes based on the total motion sickness value of each route of the set of routes, and the vehicle may be maneuvered according to the selected route.

公开(公告)号：US12179798B2

公开(公告)日：2024-12-31

申请号：US17132806

申请日：2020-12-23

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Clovis Scotti

IPC: B60W60/00

Abstract: An autonomous vehicle is operated along a route according to a nominal driving solution that takes into account one or more first constraints including a first predicted trajectory for an agent vehicle. An alternate scenario is determined based on one or more second external constraints that include a second predicted trajectory for the agent vehicle different from the first predicted trajectory. A risk factor on the nominal driving solution is determined for the alternative scenario, and a secondary driving solution is determined based on the risk factor and the one or more second external constraints. A candidate switching point is identified where the secondary driving solution diverges from the nominal driving solution, and the nominal driving solution is revised up to the candidate switching point based on the secondary driving solution. The autonomous vehicle is then operated based on the revised nominal driving solution.

公开(公告)号：US12116018B2

公开(公告)日：2024-10-15

申请号：US17558680

申请日：2021-12-22

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz ,  Anup Menon

IPC: B60W60/00

CPC classification number: B60W60/00276 ,  B60W60/00272 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/801 ,  B60W2554/803 ,  B60W2554/804 ,  B60W2720/10 ,  B60W2720/12

Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan.

公开(公告)号：US11054834B2

公开(公告)日：2021-07-06

申请号：US16165114

申请日：2018-10-19

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Jens-Steffen Ralf Gutmann ,  Pei Sun

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

Abstract: The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.

公开(公告)号：US11034351B2

公开(公告)日：2021-06-15

申请号：US16238135

申请日：2019-01-02

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 ,  G08G1/16

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：US20210109525A1

公开(公告)日：2021-04-15

申请号：US17035115

申请日：2020-09-28

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Jens-Steffen Ralf Gutmann

IPC: G05D1/00 ,  G06K9/00 ,  G06T7/70

Abstract: The disclosure provides a method for operating an autonomous vehicle. To operate the autonomous vehicle, a plurality of lane segments that are in an environment of the autonomous vehicle is determined and a first object and a second object in the environment are detected. A first position for the first object is determined in relation to the plurality of lane segments, and particular lane segments that are occluded by the first object are determined using the first position. According to the occluded lane segments, a reaction time is determined for the second object and a driving instruction for the autonomous vehicle is determined according to the reaction time. The autonomous vehicle is then operated based on the driving instruction.