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.

公开(公告)号：US20210229666A1

公开(公告)日：2021-07-29

申请号：US17228078

申请日：2021-04-12

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Nolan McPeek-Bechtold

IPC: B60W30/188 ,  G05D1/00 ,  B60W10/06 ,  B60W10/02 ,  G05D1/02

Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.

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.

公开(公告)号：US20200094832A1

公开(公告)日：2020-03-26

申请号：US16563017

申请日：2019-09-06

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Nolan McPeek-Bechtold

IPC: B60W30/188 ,  G05D1/02 ,  G05D1/00 ,  B60W10/06 ,  B60W10/02

Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.