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公开(公告)号：US20220080990A1
公开(公告)日：2022-03-17
申请号：US17531946
申请日：2021-11-22
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC: B60W50/029 , G05D1/00 , B60W10/04 , B60W10/20 , B60W50/02
Abstract: The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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公开(公告)号：US20210132628A1
公开(公告)日：2021-05-06
申请号：US17079693
申请日：2020-10-26
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jens-Steffen Ralf Gutmann , Michael James
IPC: G05D1/02 , G01S17/95 , G01S15/88 , G01S13/95 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G01W1/02
Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.
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公开(公告)号：US20210048816A1
公开(公告)日：2021-02-18
申请号：US17037924
申请日：2020-09-30
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Michael James , loan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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公开(公告)号：US12072203B2
公开(公告)日：2024-08-27
申请号：US17207663
申请日：2021-03-20
Applicant: Waymo LLC
Inventor： Boris Sofman , Benjamin Pitzer , Michael James
CPC classification number: G01C21/3697 , G01C21/3461 , G01C21/3469 , G01C21/3492 , G05D1/0287 , G08G1/22
Abstract: An example method involves identifying one or more potential route segments that collectively connect at least two geographical points, receiving spatiotemporal weather information that predicts future weather conditions along each of the potential segments, and, for each potential segment, evaluating a partial cost function that comprises a summation of a set of segment-weighted cost factors, where at least one segment-weighted cost factor comprises an adverse weather risk factor based on the future weather conditions along the potential segment. The method also involves selecting, based on a minimization of a total cost function, a set of selected segments and corresponding segment target speeds for the vehicle to utilize while traversing between the at least two geographical points so as to avoid adverse weather conditions, the total cost function being the sum of partial cost functions associated with a set of segments that collectively connect the at least two geographical points.
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公开(公告)号：US12066836B2
公开(公告)日：2024-08-20
申请号：US18131966
申请日：2023-04-07
Applicant: Waymo LLC
Inventor： David Harrison Silver , Jens-Steffen Ralf Gutmann , Michael James
IPC: G05D1/00 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G01S13/95 , G01S15/88 , G01S17/95 , G01W1/02
CPC classification number: G05D1/0291 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , G01S13/95 , G01S15/885 , G01S17/95 , G01W1/02 , G05D1/0214 , B60W2300/12 , B60W2300/145 , B60W2420/403 , B60W2420/408 , B60W2420/54 , B60W2552/00 , B60W2555/20 , B60W2710/18 , B60W2710/20 , B60W2720/106 , G01W2203/00 , G05D1/0088
Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.
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Patent Agency Ranking
公开(公告)号：US11775870B2
公开(公告)日：2023-10-03
申请号：US17978287
申请日：2022-11-01
Applicant: WAYMO LLC
Inventor： Xin Zhou , Roshni Cooper , Michael James
CPC classification number: G06N20/00 , B60W40/06 , B60W60/0015 , G05D1/0231 , G05D1/0255 , G05D1/0257 , G06N3/08 , B60W2420/42 , B60W2420/52 , B60W2420/54 , B60W2555/20 , G05D2201/0213
Abstract: The technology relates to using on-board sensor data, off-board information and a deep learning model to classify road wetness and/or to perform a regression analysis on road wetness based on a set of input information. Such information includes on-board and/or off-board signals obtained from one or more sources including on-board perception sensors, other on-board modules, external weather measurement, external weather services, etc. The ground truth includes measurements of water film thickness and/or ice coverage on road surfaces. The ground truth, on-board and off-board signals are used to build the model. The constructed model can be deployed in autonomous vehicles for classifying/regressing the road wetness with on-board and/or off-board signals as the input, without referring to the ground truth. The model can be applied in a variety of ways to enhance autonomous vehicle operation, for instance by altering current driving actions, modifying planned routes or trajectories, activating on-board cleaning systems, etc.
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公开(公告)号：US20230264715A1
公开(公告)日：2023-08-24
申请号：US18310620
申请日：2023-05-02
Applicant: WAYMO LLC
Inventor： Yuchi Wang , Michael James , Robert Chen , Derrick Dominic
IPC: B60W60/00 , G06V20/56 , B60W40/06 , G06F18/23 , G06F18/2415
CPC classification number: B60W60/00184 , B60W40/06 , B60W60/001 , B60W60/00182 , G06F18/23 , G06F18/2415 , G06V20/56 , G06V20/588 , B60W2420/52
Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.
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公开(公告)号：US11693405B2
公开(公告)日：2023-07-04
申请号：US17037924
申请日：2020-09-30
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Michael James , Ioan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
CPC classification number: G05D1/0077 , G05D1/0088 , G05D1/0212 , G05D1/0223
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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公开(公告)号：US11673581B2
公开(公告)日：2023-06-13
申请号：US17118758
申请日：2020-12-11
Applicant: WAYMO LLC
Inventor： Yuchi Wang , Michael James , Robert Chen , Derrick Dominic
IPC: B60W60/00 , G06V20/56 , B60W40/06 , G06F18/23 , G06F18/2415
CPC classification number: B60W60/00184 , B60W40/06 , B60W60/001 , B60W60/00182 , G06F18/23 , G06F18/2415 , G06V20/56 , G06V20/588 , B60W2420/52
Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.
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公开(公告)号：US20230055334A1
公开(公告)日：2023-02-23
申请号：US17978287
申请日：2022-11-01
Applicant: WAYMO LLC
Inventor： Xin Zhou , Roshni Cooper , Michael James
Abstract: The technology relates to using on-board sensor data, off-board information and a deep learning model to classify road wemess and/or to perform a regression analysis on road wetness based on a set of input information. Such information includes on-board and/or off-board signals obtained from one or more sources including on-board perception sensors, other on-board modules. external weather measurement, external weather services, etc. The ground truth includes measurements of water film thickness and/or ice coverage on road surfaces. The ground truth, on-board and off-board signals are used to build the model. The constructed model can be deployed in autonomous vehicles for classifying/regressing the road wetness with on-board and/or off-board signals as the input, without referring to the ground truth. The model can be applied in a variety of ways to enhance autonomous vehicle operation, for instance by altering current driving actions, modifying planned routes or trajectories, activating on-board cleaning systems, etc.
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