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公开(公告)号：US12179749B2
公开(公告)日：2024-12-31
申请号：US18243319
申请日：2023-09-07
Applicant: WAYMO LLC
Inventor： Nathaniel Fairfield , Vadim Furman
Abstract: A method and apparatus for controlling a first vehicle autonomously are disclosed. For instance, one or more processors may plan to maneuver the first vehicle to complete an action and predict that a second vehicle will take a particular responsive action. The first vehicle is then maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously according to whether the second vehicle begins to take the particular responsive action.
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公开(公告)号：US11831868B2
公开(公告)日：2023-11-28
申请号：US17817579
申请日：2022-08-04
Applicant: Waymo LLC
Inventor： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
IPC: G06T9/00 , H04N19/117 , B60R11/04 , H04N19/136 , H04N19/17 , H04N19/167 , H04N19/85 , G06V20/58 , G01C21/00 , B60R11/00 , G06V20/56
CPC classification number: H04N19/117 , B60R11/04 , G01C21/3896 , G06T9/00 , G06V20/58 , H04N19/136 , H04N19/167 , H04N19/17 , H04N19/85 , B60R2011/004 , B60R2011/008 , B60R2011/0026 , G06V20/56
Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
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公开(公告)号：US20220375232A1
公开(公告)日：2022-11-24
申请号：US17817579
申请日：2022-08-04
Applicant: Waymo LLC
Inventor： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
IPC: G06V20/58 , G06V10/75 , H04N19/167 , H04N19/17 , H04N19/117 , H04N19/85 , G01C21/00 , G06T9/00 , B60R11/04 , H04N19/136
Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
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公开(公告)号：US11345335B1
公开(公告)日：2022-05-31
申请号：US16890274
申请日：2020-06-02
Applicant: Waymo LLC
Inventor： Brandon Douglas Luders , Vadim Furman , Nathaniel Fairfield
IPC: B60W30/00 , G08G1/16 , G01S17/00 , G01S13/931 , G05D1/00 , G05D1/02 , G01S17/931 , G06V20/56
Abstract: The technology relates to identifying sensor occlusions due to the limits of the ranges of a vehicle's sensors and using this information to maneuver the vehicle. As an example, the vehicle is maneuvered along a route that includes traveling on a first roadway and crossing over a lane of a second roadway. A trajectory is identified from the lane that will cross with the route during the crossing at a first point. A second point beyond a range of the vehicle's sensors is selected. The second point corresponds to a hypothetical vehicle moving towards the route along the lane. A distance between the first point and the second point is determined. An amount of time that it would take the hypothetical vehicle to travel the distance is determined and compared to a threshold amount of time. The vehicle is maneuvered based on the comparison to complete the crossing.
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公开(公告)号：US20210278837A1
公开(公告)日：2021-09-09
申请号：US17329020
申请日：2021-05-24
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Selh Herbach , Vadim Furman
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.
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Patent Agency Ranking
公开(公告)号：US11067988B1
公开(公告)日：2021-07-20
申请号：US16352174
申请日：2019-03-13
Applicant: Waymo LLC
Inventor： Aleksandra Faust , Matthieu Devin , Yu-hsin Joyce Chen , Franklin Morley , Vadim Furman , Carlos Alberto Fuertes Pascual
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for implementing an interactive autonomous vehicle agent. One of the methods includes receiving a request to generate an experience tuple for a vehicle in a particular driving context. A predicted environment observation representing a predicted environment of the autonomous vehicle after the candidate action is taken by the autonomous vehicle in an initial environment is generated, including providing an initial environment observation and the candidate action as input to a vehicle behavior model neural network trained to generate predicted environment observations. An immediate quality value is generated from a context-specific quality model that generates immediate quality values that are specific to the particular driving context. An experience tuple comprising the initial environment observation, the candidate action, and the immediate quality value is generated and used as input to a reinforcement learning system for the autonomous vehicle.
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公开(公告)号：US10766486B2
公开(公告)日：2020-09-08
申请号：US16134368
申请日：2018-11-30
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Vadim Furman
Abstract: Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.
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公开(公告)号：US10241508B2
公开(公告)日：2019-03-26
申请号：US15618768
申请日：2017-06-09
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Vadim Furman
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.
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公开(公告)号：US20190077397A1
公开(公告)日：2019-03-14
申请号：US16134368
申请日：2018-11-30
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Vadim Furman
Abstract: Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.
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公开(公告)号：US20250074405A1
公开(公告)日：2025-03-06
申请号：US18952239
申请日：2024-11-19
Applicant: WAYMO LLC
Inventor： Nathaniel Fairfield , Vadim Furman
Abstract: A method and apparatus for controlling a first vehicle autonomously are disclosed. For instance, one or more processors may plan to maneuver the first vehicle to complete an action and predict that a second vehicle will take a particular responsive action. The first vehicle is then maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously according to whether the second vehicle begins to take the particular responsive action.
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