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    Detecting and responding to propulsion and steering system errors for autonomous vehicles
    11.
    发明授权
    Detecting and responding to propulsion and steering system errors for autonomous vehicles 有权

    公开(公告)号：US10493992B2

    公开(公告)日：2019-12-03

    申请号：US15718459

    申请日：2017-09-28

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash

    IPC: G01C22/00 ,  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.

    MULTIPLE DRIVING MODES FOR AUTONOMOUS VEHICLES
    12.
    发明申请
    MULTIPLE DRIVING MODES FOR AUTONOMOUS VEHICLES 审中-公开

    公开(公告)号：US20190092341A1

    公开(公告)日：2019-03-28

    申请号：US15716872

    申请日：2017-09-27

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Katharine Patterson

    IPC: B60W50/10 ,  G05D1/00 ,  G05D1/02 ,  B60W10/18 ,  B60W10/20 ,  B60W10/04 ,  B60W30/14 ,  B60W50/12

    Abstract: Aspects of the present disclosure relate to vehicle systems including one or more control computing devices configured to send commands to one or more actuators of the vehicle in order to control deceleration, acceleration, and steering. The vehicle may include user input devices for allowing a driver to control the one or more actuators in order to control deceleration, acceleration, and steering. The computing devices are configured to operate in a manual driving mode where commands from the control computing devices are invalidated and ignored by the actuators, a first autonomous driving mode where the control computing devices are configured to send the commands to control the actuators and inputs from the user input devices are prioritized over the commands; and a second autonomous driving mode wherein the control computing devices are configured to send the commands to control the actuators and inputs from commands are prioritized over inputs from the user input devices.

    DETECTING AND RESPONDING TO PROPULSION AND STEERING SYSTEM ERRORS FOR AUTONOMOUS VEHICLES
    13.
    发明申请
    DETECTING AND RESPONDING TO PROPULSION AND STEERING SYSTEM ERRORS FOR AUTONOMOUS VEHICLES 审中-公开

    公开(公告)号：US20190092332A1

    公开(公告)日：2019-03-28

    申请号：US15718459

    申请日：2017-09-28

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash

    IPC: B60W30/188 ,  G05D1/00 ,  G05D1/02 ,  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.

    Driver transition assistance for transitioning to manual control for vehicles with autonomous driving modes
    15.
    发明授权
    Driver transition assistance for transitioning to manual control for vehicles with autonomous driving modes 有权

    公开(公告)号：US11364928B1

    公开(公告)日：2022-06-21

    申请号：US16685209

    申请日：2019-11-15

    Applicant: Waymo LLC

    Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Andrew Schultz

    IPC: G01C22/00 ,  B60W50/10 ,  G05D1/02 ,  G05D1/00

    Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.

    BRAKING CONTROL BEHAVIORS FOR AUTONOMOUS VEHICLES
    16.
    发明申请
    BRAKING CONTROL BEHAVIORS FOR AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20210325896A1

    公开(公告)日：2021-10-21

    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

    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.

    Detecting and responding to propulsion and steering system errors for autonomous vehicles
    18.
    发明授权
    Detecting and responding to propulsion and steering system errors for autonomous vehicles 有权

    公开(公告)号：US10569784B2

    公开(公告)日：2020-02-25

    申请号：US15718459

    申请日：2017-09-28

    Applicant: Waymo LLC

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

    IPC: G01C22/00 ,  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.

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