公开(公告)号：US20210141380A1

公开(公告)日：2021-05-13

申请号：US16680619

申请日：2019-11-12

Applicant: Waymo LLC

Inventor： Aishwarya Parasuram ,  Jennifer Iglesias ,  Ioan-Alexandru Sucan

IPC: G05D1/02 ,  G05D1/00 ,  G06K9/00

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle having an autonomous driving mode. For instance, sensor data generated by a perception system of a vehicle may be received. The sensor data identifying objects in an environment of the vehicle. A trajectory corresponding to a future path of the vehicle may be received. That the vehicle is approaching an unmarked crosswalk situation may be determined based on the trajectory and the sensor data. In response to the determination, an area for an unmarked crosswalk is identified. The vehicle may be controlled in the autonomous driving mode based on the determination and the area.

公开(公告)号：US12252158B2

公开(公告)日：2025-03-18

申请号：US17400286

申请日：2021-08-12

Applicant: Waymo LLC

Inventor： Jennifer Iglesias ,  Lucas Watson ,  Tian Yu Liu

IPC: B60W60/00 ,  B60W30/095 ,  B60W40/04 ,  B60W50/00

Abstract: Aspects of the disclosure provide for a method of controlling an autonomous vehicle in an autonomous driving mode. For instance, a predicted future trajectory for an object detected in a driving environment of the autonomous vehicle may be received. A routing intent for a planned trajectory for the autonomous vehicle may be received. The predicted future trajectory and the routing intent intersect with one another may be determined. When the predicted future trajectory and the routing intent are determined to intersect with one another, a time gap may be applied to a predicted future state of the object defined in the predicted future trajectory. A planned trajectory may be determined for the autonomous vehicle based on the applied time gap. The autonomous vehicle may be controlled in the autonomous driving mode based on the planned trajectory.

公开(公告)号：US12240499B2

公开(公告)日：2025-03-04

申请号：US18234587

申请日：2023-08-16

Applicant: Waymo LLC

Inventor： Jennifer Iglesias

IPC: B60W60/00 ,  B60W30/14 ,  B60W30/18 ,  B60W50/00 ,  G05D1/00 ,  G06V10/26 ,  G06V20/58 ,  G06V40/10

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, that the vehicle is approaching a crosswalk may be determined. A set of segments may be identified for the crosswalk. A set of potential occluded pedestrians may be generated. Each potential occluded pedestrian of the set is assigned a speed characteristic and a segment. The segments of the set of potential occluded pedestrians may be updated over time using the assigned speed characteristics. Sensor data from a perception system of the vehicle is received, and one or more potential occluded pedestrians an having an updated assigned segment corresponding to a segment that is visible to a perception system of the vehicle may be removed from the set of potential occluded pedestrians. After the removing, the set may be used to control the vehicle in the autonomous driving mode.

公开(公告)号：US20250002051A1

公开(公告)日：2025-01-02

申请号：US18883353

申请日：2024-09-12

Applicant: Waymo LLC

Inventor： Victor Puchkarev ,  Alexander Ruben Stacey McCarthy ,  Aleix Paris i Bordas ,  Jennifer Iglesias ,  Allison Thackston ,  Xinrui Wang

IPC: B60W60/00 ,  B60W50/02

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A first error value for a boundary of an object, a second error value for a location of the autonomous vehicle, a third error value for a predicted future location of the object may be received. An uncertainty value for the object may be determined by combining the first error value, the second error value, and the third error value. A lateral gap threshold for the object may be determined based on the uncertainty value. The autonomous vehicle may be controlled in an autonomous driving mode based on the lateral gap threshold for the object.

公开(公告)号：US11460846B2

公开(公告)日：2022-10-04

申请号：US16680619

申请日：2019-11-12

Applicant: Waymo LLC

Inventor： Aishwarya Parasuram ,  Jennifer Iglesias ,  Ioan-Alexandru Sucan

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  G06V20/58 ,  G06V40/10

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle having an autonomous driving mode. For instance, sensor data generated by a perception system of a vehicle may be received. The sensor data identifying objects in an environment of the vehicle. A trajectory corresponding to a future path of the vehicle may be received. That the vehicle is approaching an unmarked crosswalk situation may be determined based on the trajectory and the sensor data. In response to the determination, an area for an unmarked crosswalk is identified. The vehicle may be controlled in the autonomous driving mode based on the determination and the area.