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公开(公告)号：US12204332B2
公开(公告)日：2025-01-21
申请号：US17839640
申请日：2022-06-14
Applicant: WAYMO LLC
Inventor： Vijaysai Patnaik , William Grossman
IPC: G05D1/00 , B60W30/06 , G05D1/249 , G05D1/617 , G05D1/695 , G05D1/81 , G06V20/58 , G08G1/0967 , G08G1/00
Abstract: The technology relates to assisting large self-driving vehicles, such as cargo vehicles, as they maneuver towards and/or park at a destination facility. This may include a given vehicle transitioning between different autonomous driving modes. Such a vehicles may be permitted to drive in a fully autonomous mode on certain roadways for the majority of a trip, but may need to change to a partially autonomous mode on other roadways or when entering or leaving a destination facility such as a warehouse, depot or service center. Large vehicles such as cargo truck may have limited room to maneuver in and park at the destination, which may also prevent operation in a fully autonomous mode. Here, information from the destination facility and/or a remote assistance service can be employed to aid in real-time semi-autonomous maneuvering.
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公开(公告)号：US12202498B2
公开(公告)日：2025-01-21
申请号：US18512297
申请日：2023-11-17
Applicant: WAYMO LLC
Inventor： Philip Nemec , Keith Hutchings , Julien Mercay , Annissa Al-Alusi , Saswat Panigrahi , Cristi Landy , Matthew Schwall
IPC: B60W50/10 , B60W40/105 , B60W50/14 , G05D1/00 , B60W50/00
Abstract: Aspects of the disclosure provide for determining when to provide and providing secondary disengage alerts for a vehicle having autonomous and manual driving modes. For instance, while the vehicle is being controlled in the autonomous driving mode, user input is received at one or more user input devices of the vehicle. In response to receiving the user input, the vehicle may be transitioned from the autonomous driving mode to a manual driving mode and provide a primary disengage alert to an occupant of the vehicle regarding the transition. Whether to provide a secondary disengage alert may be determined based on at least circumstances of the user input. After the transition, the secondary disengage alert may be provided based on the determination.
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公开(公告)号：US20250018984A1
公开(公告)日：2025-01-16
申请号：US18903371
申请日：2024-10-01
Applicant: WAYMO LLC
Inventor： Mishika Vora
Abstract: The technology involves to pickups performed by autonomous vehicles. In particular, it includes identifying one or more potential pullover locations adjacent to an area of interest that an autonomous vehicle is approaching. The vehicle detects that a given one of the potential pullover locations is occupied by another vehicle and determines whether the other vehicle will be vacating the given pullover location within a selected amount of time. Upon determining that the other vehicle will be vacating the given potential pullover location within the timeframe, the vehicle determines whether to wait for the other vehicle to vacate the given pullover location. Then a driving system of the vehicle either performs a first action in order to wait for the other vehicle to vacate the given pullover location or performs a second action that is different from the first action when it is determined to not wait.
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公开(公告)号：US12197216B2
公开(公告)日：2025-01-14
申请号：US17713325
申请日：2022-04-05
Applicant: Waymo LLC
Inventor： Austin Daniel Abrams , Guillaume Dupre
Abstract: Aspects of the disclosure relate to routing an autonomous vehicle. For instance, the vehicle may be maneuvered along a route in a first lane using map information identifying a first plurality of nodes representing locations within the first lane and a second plurality of nodes representing locations within a second lane different from the first lane. While maneuvering, when the vehicle should make a lane change may be determined by assessing a cost of connecting a first node of the first plurality of nodes with a second node of a second plurality of nodes. The assessment may be used to make the lane change from the first lane to the second lane.
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公开(公告)号：US20250013231A1
公开(公告)日：2025-01-09
申请号：US18889024
申请日：2024-09-18
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Seth Herbach
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator when the vehicle's confidence in operation is low. One example method includes operating an autonomous vehicle in a first autonomous mode. The method may also include identifying a situation where a level of confidence of an autonomous operation in the first autonomous mode is below a threshold level. The method may further include sending a request for assistance to a remote assistor, the request including sensor data representative of a portion of an environment of the autonomous vehicle. The method may additionally include receiving a response from the remote assistor, the response indicating a second autonomous mode of operation. The method may also include causing the autonomous vehicle to operate in the second autonomous mode of operation in accordance with the response from the remote assistor.
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Patent Agency Ranking
公开(公告)号：US12190735B2
公开(公告)日：2025-01-07
申请号：US17354395
申请日：2021-06-22
Applicant: Waymo LLC
Inventor： Cindy Cao Butler
IPC: G08G1/123 , B62D6/00 , G01C21/00 , G01C21/36 , G05D1/02 , G06F9/455 , G06F11/36 , G06F30/20 , G08G1/00 , G06F119/02
Abstract: Aspects of the disclosure provide for the evaluation of a scheduling system software for managing autonomous vehicle scheduling and dispatching. For instance, a problem condition for a simulation may be identified. The simulation may be run using the identified problem condition. The simulation may include a plurality of simulated autonomous vehicles each utilizing its own autonomous vehicle control software and map information common to each simulated autonomous vehicle. The problem condition may relate to a particular simulated autonomous vehicle of the plurality. Output of the simulation may be analyzed to determine a score for the scheduling system software. The scheduling system software may be evaluated using the score.
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27.发明授权公开(公告)号：US12190463B2
公开(公告)日：2025-01-07
申请号：US18158740
申请日：2023-01-24
Applicant: Waymo LLC
Inventor： Dillon Cower , Nirmal Patel
Abstract: Aspects of the disclosure provide for generating a visualization of a three-dimensional (3D) world view from the perspective of a camera of a vehicle. For example, images of a scene captured by a camera of the vehicle and 3D content for the scene may be received. A virtual camera model for the camera of the vehicle may be identified. A set of matrices may be generated using the virtual camera model. The set of matrices may be applied to the 3D content to create a 3D world view. The visualization may be generated using the 3D world view as an overlay with the image, and the visualization provides a real-world image from the perspective of the camera of the vehicle with one or more graphical overlays of the 3D content.
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公开(公告)号：US12189024B1
公开(公告)日：2025-01-07
申请号：US17246951
申请日：2021-05-03
Applicant: Waymo LLC
Inventor： Michael Fina
IPC: G01S13/931 , B60W30/08
Abstract: Example embodiments relate to real-time health monitoring for automotive radars. A computing device may receive radar data from multiple radar units that have partially overlapping fields of view and detect a target object located such that the radar units both capture measurements of the target object. The computing device may determine a power level representing the target object for radar data from each radar unit, adjust these power levels, and determine a power difference between them. When the power difference exceeds a threshold power difference, the computing device may perform a calibration process to decrease the power difference below the threshold power difference or alert the vehicle, including onboard algorithms, to the reduced performance of the radar.
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公开(公告)号：US12187141B2
公开(公告)日：2025-01-07
申请号：US18461646
申请日：2023-09-06
Applicant: Waymo LLC
Inventor： Samuel William Lenius , Pierre-yves Droz
IPC: B60L53/12 , B60L3/00 , B60L7/12 , B60L8/00 , B60L50/16 , B60L50/30 , B60L50/40 , G01S7/481 , H02J50/10 , H02J50/80 , G01S7/00 , G01S17/42 , G01S17/931
Abstract: A rotatable LIDAR device including contactless electrical couplings is disclosed. An example rotatable LIDAR device includes a vehicle electrical coupling including (i) a first conductive ring, (ii) a second conductive ring, and (iii) a first coil. The example rotatable LIDAR device further includes a LIDAR electrical coupling including (i) a third conductive ring, (ii) a fourth conductive ring, and (iii) a second coil. The example rotatable LIDAR device still further includes a rotatable LIDAR electrically coupled to the LIDAR electrical coupling. The first conductive ring and the third conductive ring form a first capacitor configured to transmit communications to the rotatable LIDAR, the second conductive ring and the fourth conductive ring form a second capacitor configured to transmit communications from the rotatable LIDAR, and the first coil and the second coil form a transformer configured to provide power to the rotatable LIDAR.
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公开(公告)号：US20250002009A1
公开(公告)日：2025-01-02
申请号：US18828864
申请日：2024-09-09
Applicant: Waymo LLC
Inventor： Pierre-yves Droz
Abstract: The present radio system transmits an electromagnetic signal to nearby devices requesting the device respond. The radio system also receives responses to the electromagnetic signal from the nearby devices. Based on the radio technology used, the signaling of the transmitted electromagnetic signal may be varied. For example, the transmitted electromagnetic signal may be a Bluetooth, 802.11, or other radio signal. A device that received the signal from the radio unit may transmit a response signal with the same radio technology. However, in some instances, the radio technology used for communication may operate on several radio (e.g., frequency) channels. Both the transmitter and receiver must operate on the same channel at the same time in order to communicate. Thus, it may be desirable to transmit the electromagnetic signal on more than one channel at the same time, in order to increase the chances that a nearby device responds.
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