公开(公告)号：US20250002052A1

公开(公告)日：2025-01-02

申请号：US18828295

申请日：2024-09-09

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz ,  Anup Menon

IPC: B60W60/00

Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan. Aspects of the technology employ permeable speed constraints that enable the vehicle to avoid problems associated with discontinuous constraints.

公开(公告)号：US11951991B2

公开(公告)日：2024-04-09

申请号：US17851206

申请日：2022-06-28

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Fang Da

IPC: G05D1/02 ,  B60W30/00 ,  B60W40/04 ,  G05D1/00 ,  G06F18/23 ,  G06V20/58

CPC classification number: B60W40/04 ,  B60W30/00 ,  G05D1/0088 ,  G05D1/0214 ,  G06F18/23 ,  G06V20/58 ,  B60W2554/00 ,  G05D2201/0213

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.

公开(公告)号：US11945433B1

公开(公告)日：2024-04-02

申请号：US17498907

申请日：2021-10-12

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz

IPC: B60W30/09 ,  B60W30/095 ,  B60W30/182 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/182 ,  G05D1/0088 ,  G05D1/0212 ,  G05D2201/0213

Abstract: A first driving solution for a vehicle along a portion of a route is determined based on an agent detected in the vehicle's environment following a first trajectory of a plurality of possible trajectories. A switching time is determined for the vehicle to deviate from the first driving solution for a situation in which the agent is following a second trajectory of the plurality of possible trajectories. The first driving solution is revised such that the vehicle will be able to switch from the revised first driving solution to another driving solution at the switching time in case if the detected agent is following the second trajectory.

公开(公告)号：US11887380B1

公开(公告)日：2024-01-30

申请号：US17144209

申请日：2021-01-08

Applicant: Waymo LLC

Inventor： Jared Stephen Russell

IPC: G06V20/56 ,  G06T7/20 ,  G05D1/02 ,  G06V20/58 ,  G06V40/10 ,  G06F18/2113 ,  G06F18/214

CPC classification number: G06V20/588 ,  G05D1/0231 ,  G05D1/0276 ,  G06F18/2113 ,  G06T7/20 ,  G06V20/58 ,  G06V40/103 ,  G05D2201/0213 ,  G06F18/2148 ,  G06T2207/20081 ,  G06T2207/30196 ,  G06T2207/30241 ,  G06T2207/30261

Abstract: Aspects of the disclosure relate to detecting sidewalks adjacent to roads. In this regard, a set of potential sidewalk areas adjacent to one or more roads in a vehicle's vicinity may be determined based on map data. Topology data for the set of potential sidewalk areas may be generated based on sensor data received from a perception system of the vehicle. The set of potential sidewalks may be filtered to remove areas unlikely to include a sidewalk. The vehicle may be operated based on the filtered set of potential sidewalk areas, which may include taking precautionary measures when within a predetermined distance from any of the filtered set of potential sidewalks.

公开(公告)号：US11783614B2

公开(公告)日：2023-10-10

申请号：US17330511

申请日：2021-05-26

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Kai Ding

IPC: G06V40/10 ,  B60W30/09 ,  G08G1/16 ,  G05D1/02 ,  G05D1/00 ,  G06V20/58 ,  B60W30/095

CPC classification number: G06V40/10 ,  B60W30/0956 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0276 ,  G06V20/58 ,  G06V40/103 ,  G08G1/166 ,  G05D2201/0213 ,  G06T2207/30196 ,  G06T2207/30261

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.

公开(公告)号：US11619940B2

公开(公告)日：2023-04-04

申请号：US17697399

申请日：2022-03-17

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Jens-Steffen Ralf Gutmann

IPC: G06T7/70 ,  G05D1/00 ,  G06V20/58 ,  G06V20/56

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.

公开(公告)号：US11585670B2

公开(公告)日：2023-02-21

申请号：US17173274

申请日：2021-02-11

Applicant: Waymo LLC

Inventor： Daniel Lynn Larner ,  Jared Stephen Russell

IPC: G01C21/34 ,  B60W40/08 ,  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：US20220326713A1

公开(公告)日：2022-10-13

申请号：US17851206

申请日：2022-06-28

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Fang Da

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

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.

公开(公告)号：US20220206494A1

公开(公告)日：2022-06-30

申请号：US17697399

申请日：2022-03-17

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Jens-Steffen Ralf Gutmann

IPC: G05D1/00 ,  G06T7/70 ,  G06V20/58 ,  G06V20/56

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.

公开(公告)号：US20220204056A1

公开(公告)日：2022-06-30

申请号：US17558680

申请日：2021-12-22

Applicant: WAYMO LLC.

Inventor： Jared Stephen Russell ,  Tobias Kunz ,  Anup Menon

IPC: B60W60/00

Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan. Aspects of the technology employ permeable speed constraints that enable the vehicle to avoid problems associated with discontinuous constraints.