公开(公告)号：US20220119011A1

公开(公告)日：2022-04-21

申请号：US17071008

申请日：2020-10-15

Applicant: WAYMO LLC

Inventor： Dong Li ,  Tian Jin ,  Mingxiang Fan ,  Rajiv Kurian

IPC: B60W60/00 ,  G08G1/16

Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.

公开(公告)号：US11136025B2

公开(公告)日：2021-10-05

申请号：US16687974

申请日：2019-11-19

Applicant: Waymo LLC

Inventor： Dong Li ,  Ioan-Alexandru Sucan

IPC: B60W30/095 ,  B60W30/09 ,  B60W40/12 ,  G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.