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21.发明授权公开(公告)号：US10942037B1
公开(公告)日：2021-03-09
申请号：US16111581
申请日：2018-08-24
Applicant: Waymo LLC
Inventor： Daniel Lynn Larner , Jared Stephen Russell
Abstract: The disclosure provides for a method for determining a route for passenger comfort and operating a vehicle according to the determined route. To start, a set of routes from a start location to an end location may be determined. Each route includes one or more portions. For each route of the set of routes, a total motion sickness value is determined based on a sway motion sickness value, a surge motion sickness value, and a heave motion sickness value for each of the given portions. The total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in a vehicle along the route. A route may then be selected from the set of routes based on the total motion sickness value of each route of the set of routes, and the vehicle may be maneuvered according to the selected route.
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公开(公告)号：US10671079B2
公开(公告)日：2020-06-02
申请号：US15791623
申请日：2017-10-24
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Mark Paskin
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.
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公开(公告)号：US20190193733A1
公开(公告)日：2019-06-27
申请号：US16238135
申请日：2019-01-02
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Dmitri A. Dolgov , Nathaniel Fairfield , Laura Estelle Lindzey , Christopher Paul Urmson
IPC: B60W30/18 , G05D1/02 , G08G1/00 , G01C21/34 , G08G1/0962 , G08G1/0967 , G05D1/00
CPC classification number: B60W30/18 , B60W2400/00 , B60W2550/10 , B60W2550/20 , B60W2720/10 , G01C21/3407 , G05D1/0088 , G05D1/0214 , G08G1/00 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/167 , G08G1/202
Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.
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公开(公告)号：US20250076879A1
公开(公告)日：2025-03-06
申请号：US18951839
申请日：2024-11-19
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Jens-Steffen Ralf Gutmann , Pei Sun
Abstract: The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.
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公开(公告)号：US12181886B2
公开(公告)日：2024-12-31
申请号：US17336938
申请日：2021-06-02
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Jens-Steffen Ralf Gutmann , Pei Sun
Abstract: The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.
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Patent Agency Ranking
公开(公告)号：US20210341934A1
公开(公告)日：2021-11-04
申请号：US17336938
申请日：2021-06-02
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Jens-Steffen Ralf Gutmann , Pei Sun
Abstract: The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.
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27.发明授权公开(公告)号：US10824148B2
公开(公告)日：2020-11-03
申请号：US16220144
申请日：2018-12-14
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Jens-Steffen Ralf Gutmann
Abstract: The disclosure provides a method for operating an autonomous vehicle. To operate the autonomous vehicle, a plurality of lane segments that are in an environment of the autonomous vehicle is determined and a first object and a second object in the environment are detected. A first position for the first object is determined in relation to the plurality of lane segments, and particular lane segments that are occluded by the first object are determined using the first position. According to the occluded lane segments, a reaction time is determined for the second object and a driving instruction for the autonomous vehicle is determined according to the reaction time. The autonomous vehicle is then operated based on the driving instruction.
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公开(公告)号：US20200249687A1
公开(公告)日：2020-08-06
申请号：US16855337
申请日：2020-04-22
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Mark Paskin
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.
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公开(公告)号：US10401862B2
公开(公告)日：2019-09-03
申请号：US15798926
申请日：2017-10-31
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Fang Da
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.
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30.发明授权公开(公告)号：US10107635B2
公开(公告)日：2018-10-23
申请号：US15286153
申请日：2016-10-05
Applicant: Waymo LLC
Inventor： Daniel Lynn Larner , Jared Stephen Russell
Abstract: The disclosure provides for a method for determining a route for passenger comfort and operating a vehicle according to the determined route. To start, a set of routes from a start location to an end location may be determined. Each route includes one or more portions. For each route of the set of routes, a total motion sickness value is determined based on a sway motion sickness value, a surge motion sickness value, and a heave motion sickness value for each of the given portions. The total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in a vehicle along the route. A route may then be selected from the set of routes based on the total motion sickness value of each route of the set of routes, and the vehicle may be maneuvered according to the selected route.
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