公开(公告)号：US20210164796A1

公开(公告)日：2021-06-03

申请号：US17173274

申请日：2021-02-11

Applicant: Waymo LLC

Inventor： Daniel Lynn Larner ,  Jared Stephen Russell

IPC: G01C21/34 ,  B60W30/02 ,  G05D1/00 ,  G05D1/02

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.

公开(公告)号：US10787201B1

公开(公告)日：2020-09-29

申请号：US15705708

申请日：2017-09-15

Applicant: Waymo LLC

Inventor： Felix Jose Alvarez Rivera ,  Daniel Lynn Larner ,  Atul Gupta ,  Thomas Daniel

IPC: B62D25/10 ,  B62D25/12 ,  B62D21/15

Abstract: The technology relates to vehicle panels. The vehicle panel may comprise a top layer and a bottom layer. The top and bottom layers may be bonded together. The bond of the top and bottom layer may be a weld. One or more energy absorbing layers may be positioned between the top layer and the bottom layer. The one or more energy absorbing layers may be comprised of one or more energy absorbing materials. The energy absorbing layers may be aluminum honeycomb and polyurethane foam.

公开(公告)号：US20200207301A1

公开(公告)日：2020-07-02

申请号：US15698150

申请日：2017-09-07

Applicant: Waymo LLC

Inventor： Peter Craig Lombrozo ,  Daniel Lynn Larner ,  Atul Gupta

IPC: B60R21/34 ,  B60R21/08

Abstract: Aspects of the disclosure relate to net systems. The net system reduces the risk of injury caused by impact with a vehicle to an object or a pedestrian. The net system may include a net configured to deploy in a vehicle's environment in order to reduce the likelihood of an object colliding directly with the vehicle. The one or more energy reduction structures may be arranged on the net, and the one or more energy reduction structures may be configured to reduce injury caused by impact of the object by absorbing impact energy.

公开(公告)号：US20200079381A1

公开(公告)日：2020-03-12

申请号：US16123567

申请日：2018-09-06

Applicant: Waymo LLC

Inventor： Peter Craig Lombrozo ,  Courtney McCool ,  Daniel Lynn Larner

IPC: B60W30/18 ,  B62D6/00 ,  B60W10/20 ,  G05D1/02

Abstract: The disclosure relates to assessing and responding to wheel slippage and estimating road friction for a road surface. For instance, a vehicle may be controlled in an autonomous driving mode in order to follow a trajectory. A wheel of the vehicle may be determined to be slipping such that the vehicle has limited steering control. In response to determining that the wheel is slipping, steering of one or more wheels may be controlled in order to orient the one or more wheels towards the trajectory in order to allow the vehicle to proceed towards the trajectory when the wheel is no longer slipping. In addition, the road friction may be estimated based on the determination that the wheel is slipping. The vehicle may be controlled in the autonomous driving mode based on the estimated road friction.

公开(公告)号：US10099650B1

公开(公告)日：2018-10-16

申请号：US15405704

申请日：2017-01-13

Applicant: Waymo LLC

Inventor： Felix Jose Alvarez Rivera ,  Atul Gupta ,  Thomas Daniel ,  Daniel Lynn Larner

IPC: B60R21/38 ,  G05D1/00 ,  E05D3/14 ,  E05D11/00 ,  E05D5/02 ,  E05D3/18 ,  B60R21/0134 ,  E05D5/10 ,  B60R21/01

Abstract: Aspects of the disclosure relate to adjusting a shear pin to minimize an impact force felt by an object in a collision with a vehicle. For example, one or more second computing devices may receive, from one or more first computing devices, information indicating that an impact with an object is imminent. In response to the received information, the second computing devices may determine a first shear force for a first shear pin, wherein the first shear force is a desired amount of shear force necessary to break the first shear pin. The second computing devices may send a triggering signal to activate an actuator prior to an impact with the identified impact target. The actuator, in response to receiving the triggering signal, may adjust the first shear pin in a first pinhole, so the first shear pin will break at the first shear force.

公开(公告)号：US10029638B1

公开(公告)日：2018-07-24

申请号：US15218560

申请日：2016-07-25

Applicant: Waymo LLC

Inventor： Peter Craig Lombrozo ,  Felix Jose Alvarez Rivera ,  Daniel Lynn Larner ,  Atul Gupta

IPC: B60R21/0134 ,  B60R21/231

Abstract: Aspects of the disclosure relate to airbag systems for vehicles. The airbag systems may reduce the secondary impact forces felt by an object upon rebounding from an initial impact with an external airbag by encasing or substantially surrounding the pedestrian with the external airbag. The airbag system may include an initial impact airbag and a secondary impact airbag, wherein the secondary impact airbag is configured to reduce injury caused by a secondary impact of an object upon after an initial impact of the object with the initial impact airbag. The initial impact airbag may be configured to be deployed at a location where the object is predicted to collide with the vehicle. The secondary impact airbag may comprise one or more arms configured to surround the object upon the initial impact.

公开(公告)号：US09817397B1

公开(公告)日：2017-11-14

申请号：US14845739

申请日：2015-09-04

Applicant: Waymo LLC

Inventor： Daniel Lynn Larner ,  Atul Gupta ,  Felix Jose Alvarez Rivera ,  Thomas Daniel

IPC: G05F1/00 ,  G05D1/02 ,  B60R21/34 ,  G05D1/00

CPC classification number: B60R21/013

Abstract: Aspects of the disclosure relate to deploying safety mechanisms in an autonomous vehicle. A projected future location of an object may be identified. The projected future location of the object will intersect with a projected future location of the vehicle at a time T. An impact point P corresponding to a three dimensional location in space where the vehicle and object will collide at the time T may be identified. One of a plurality of safety mechanisms of the vehicle that can be moved closest to point P before or at the time T may be selected. The selected safety mechanism may be moved from a first point on the vehicle to a second point on the vehicle such that the safety mechanism moves towards the point P. After moving the selected safety mechanism, the safety mechanism is then deployed based on the time T.