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.

公开(公告)号：US10094670B1

公开(公告)日：2018-10-09

申请号：US14519358

申请日：2014-10-21

Applicant: Waymo LLC

Inventor： Andrew Hughes Chatham ,  Michael Steven Montemerlo ,  Daniel Trawick Egnor

IPC: G01C3/08 ,  G01C21/26 ,  G01C5/00 ,  G01S7/42

Abstract: Aspects of the disclosure relate generally to condensing sensor data for transmission and processing. For example, laser scan data including location, elevation, and intensity information may be collected along a roadway. This data may be sectioned into quanta representing some period of time during which the laser sweeps through a portion of its field of view. The data may also be filtered spatially to remove data outside of a threshold quality area. The data within the threshold quality area for a particular quantum may be projected onto a two-dimensional grid of cells. For each cell of the two-dimensional grid, a computer evaluates the cells to determine a set of characteristics for the cell. The sets of characteristics for all of the cells of the two-dimensional grid for the particular quantum are then sent to a central computing system for further processing.