公开(公告)号：US10300926B2

公开(公告)日：2019-05-28

申请号：US15982044

申请日：2018-05-17

Applicant: Waymo LLC

Inventor： Brian Douglas Cullinane ,  Philip Nemec ,  Manuel Christian Clement ,  Robertus Christianus Elisabeth Mariet ,  Lilli Ing-Marie Jonsson

IPC: G05D1/00 ,  B60W50/08 ,  B60R22/48 ,  B60W30/00 ,  G05D1/02 ,  B60K35/00 ,  B60R16/023 ,  B60R1/00 ,  B60W50/00 ,  B60W50/14

Abstract: Aspects of the present disclosure relate switching between autonomous and manual driving modes. In order to do so, the vehicle's computer may conduct a series of environmental, system, and driver checks to identify certain conditions. The computer may correct some of these conditions and also provide a driver with a checklist of tasks for completion. Once the tasks have been completed and the conditions are changed, the computer may allow the driver to switch from the manual to the autonomous driving mode. The computer may also make a determination, under certain conditions, that it would be detrimental to the driver's safety or comfort to make a switch from the autonomous driving mode to the manual driving mode.

公开(公告)号：US10168710B1

公开(公告)日：2019-01-01

申请号：US15602423

申请日：2017-05-23

Applicant: Waymo LLC

Inventor： Robertus Christianus Elisabeth Mariet ,  Manuel Christian Clement ,  Philip Nemec ,  Brian Douglas Cullinane

IPC: B60W50/14 ,  G05D1/02 ,  G06K9/00

Abstract: A vehicle has a plurality of control apparatuses, a user input, a geographic position component, an object detection apparatus, memory, and a display. A processor is also included and is programmed to receive the destination information, identify a route, and determine the current geographic location of the vehicle. The processor is also programmed to identify an object and object type based on object information received from the object detection apparatus and to determine at least one warning characteristic of the identified object based on at least one of: the object type, a detected proximity of the detected object to the vehicle, the location of the detected object relative to predetermined peripheral areas of the vehicle, the current geographic location of the vehicle, and the route. The processor is also configured to select and display on the display an object warning image based on the at least one warning characteristic.

公开(公告)号：US20180334173A1

公开(公告)日：2018-11-22

申请号：US15982044

申请日：2018-05-17

Applicant: Waymo LLC

Inventor： Brian Douglas Cullinane ,  Philip Nemec ,  Manuel Christian Clement ,  Robertus Christianus Elisabeth Mariet ,  Lilli Ing-Marie Jonsson

IPC: B60W50/08 ,  G05D1/02 ,  B60R1/00 ,  B60R16/023 ,  B60R22/48 ,  G05D1/00 ,  B60W30/00 ,  B60K35/00 ,  B60W50/14 ,  B60W50/00

CPC classification number: B60W50/082 ,  B60K35/00 ,  B60K2350/1076 ,  B60R1/00 ,  B60R16/023 ,  B60R22/48 ,  B60R2022/4866 ,  B60R2300/105 ,  B60W30/00 ,  B60W2050/0002 ,  B60W2050/0077 ,  B60W2050/146 ,  B60W2540/04 ,  B60W2540/16 ,  B60W2550/12 ,  B60W2550/14 ,  B60W2550/143 ,  B60W2550/146 ,  B60W2550/308 ,  B60W2550/402 ,  B60W2600/00 ,  G05D1/0061 ,  G05D1/0212 ,  G05D1/0223 ,  G05D2201/0213

Abstract: Aspects of the present disclosure relate switching between autonomous and manual driving modes. In order to do so, the vehicle's computer may conduct a series of environmental, system, and driver checks to identify certain conditions. The computer may correct some of these conditions and also provide a driver with a checklist of tasks for completion. Once the tasks have been completed and the conditions are changed, the computer may allow the driver to switch from the manual to the autonomous driving mode. The computer may also make a determination, under certain conditions, that it would be detrimental to the driver's safety or comfort to make a switch from the autonomous driving mode to the manual driving mode.

公开(公告)号：US10093324B1

公开(公告)日：2018-10-09

申请号：US15404556

申请日：2017-01-12

Applicant: Waymo LLC

Inventor： Andrew Timothy Szybalski ,  Luis Ricardo Prada Gomez ,  Philip Nemec ,  Christopher Paul Urmson ,  Sebastian Thrun

IPC: B60W50/14 ,  G01C21/36

Abstract: Autonomous vehicles use various computing systems to transport passengers from one location to another. A control computer sends messages to the various systems of the vehicle in order to maneuver the vehicle safely to the destination. The control computer may display information on an electronic display in order to allow the passenger to understand what actions the vehicle may be taking in the immediate future. Various icons and images may be used to provide this information to the passenger.

公开(公告)号：US09983582B2

公开(公告)日：2018-05-29

申请号：US15176535

申请日：2016-06-08

Applicant: Waymo LLC

Inventor： Philip Nemec ,  Anne Kristiina Aula ,  David Tse-Zhou Lu ,  Brian Douglas Cullinane ,  Calvin Karl Johnson ,  Albert Shane ,  Christopher Kennedy Ludwick ,  YooJung Ahn

IPC: G05D1/00 ,  G05D1/02 ,  B60K28/02 ,  B60K35/00 ,  B60W50/08 ,  B62D15/02 ,  B60W30/06 ,  G08B25/01

CPC classification number: G05D1/0055 ,  B60K28/02 ,  B60K35/00 ,  B60K37/06 ,  B60K2350/1008 ,  B60K2350/1024 ,  B60K2350/406 ,  B60W30/06 ,  B60W50/082 ,  B60W2540/04 ,  B60Y2302/05 ,  B62D15/0285 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/02 ,  G05D2201/0212 ,  G08B25/016

Abstract: Aspects of the present disclosure relate to a vehicle for maneuvering a passenger to a destination autonomously. The vehicle includes one or more computing devices and a set of user input buttons for communicating requests to stop the vehicle and to initiate a trip to the destination with the one or more computing devices. The set of user input buttons consisting essentially of a dual-purpose button and an emergency stopping button different from the dual-purpose button configured to stop the vehicle. The dual-purpose button has a first purpose for communicating a request to initiate the trip to the destination and a second purpose for communicating a request to pull the vehicle over and stop the vehicle. The vehicle has no steering wheel and no user inputs for the steering, acceleration, and deceleration of the vehicle other than the set of user input buttons.

公开(公告)号：US12198552B1

公开(公告)日：2025-01-14

申请号：US18222831

申请日：2023-07-17

Applicant: Waymo LLC

Inventor： Min Li Chan ,  Philip Nemec ,  Brian Douglas Cullinane ,  Julien Mercay ,  Peter Crandall

IPC: G08G1/017 ,  B60K35/00 ,  B60K35/22 ,  B60K35/28 ,  B60K35/81 ,  G01C21/36 ,  G06V20/58 ,  G08G1/015 ,  G08G1/04 ,  G08G1/0962 ,  G08G1/16

Abstract: Aspects of the present disclosure relate to a vehicle for maneuvering an occupant of the vehicle to a destination autonomously as well as providing information about the vehicle and the vehicle's environment for display to the occupant. The information includes a representation of a scene depicting an external environment of the vehicle. The representation of the scene includes a visual representation of the vehicle and a visual representation of objects in an external environment of the vehicle.

公开(公告)号：US20240045424A1

公开(公告)日：2024-02-08

申请号：US18374257

申请日：2023-09-28

Applicant: Waymo LLC

Inventor： Philip Nemec ,  Anne Kristiina Aula ,  David Tse-Zhou Lu ,  Brian Douglas Cullinane ,  Calvin Karl Johnson ,  Albert Shane ,  Christopher Kennedy Ludwick ,  YooJung Ahn

IPC: G05D1/00 ,  B60K35/00 ,  B60K37/06 ,  B60W30/06 ,  B60W50/08 ,  B62D15/02 ,  G05D1/02 ,  B60K28/02

CPC classification number: G05D1/0055 ,  B60K35/00 ,  B60K37/06 ,  B60W30/06 ,  B60W50/082 ,  B62D15/0285 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/02 ,  G05D1/021 ,  G05D1/0212 ,  B60K28/02 ,  G08B25/016

Abstract: Aspects of the present disclosure relate to a vehicle for maneuvering a passenger to a destination autonomously. The vehicle includes one or more computing devices and a set of user input buttons for communicating requests to stop the vehicle and to initiate a trip to the destination with the one or more computing devices. The set of user input buttons consisting essentially of a dual-purpose button and an emergency stopping button different from the dual-purpose button configured to stop the vehicle. The dual-purpose button has a first purpose for communicating a request to initiate the trip to the destination and a second purpose for communicating a request to pull the vehicle over and stop the vehicle. The vehicle has no steering wheel and no user inputs for the steering, acceleration, and deceleration of the vehicle other than the set of user input buttons.

公开(公告)号：US11803183B2

公开(公告)日：2023-10-31

申请号：US17009825

申请日：2020-09-02

Applicant: Waymo LLC

Inventor： Philip Nemec ,  Anne Kristiina Aula ,  David Tse-Zhou Lu ,  Brian Douglas Cullinane ,  Calvin Karl Johnson ,  Albert Shane ,  Christopher Kennedy Ludwick ,  YooJung Ahn

IPC: G05D1/00 ,  B60K35/00 ,  B60W50/08 ,  B62D15/02 ,  B60W30/06 ,  B60K37/06 ,  G05D1/02 ,  B60K28/02 ,  G08B25/01

CPC classification number: G05D1/0055 ,  B60K28/02 ,  B60K35/00 ,  B60K37/06 ,  B60W30/06 ,  B60W50/082 ,  B62D15/0285 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/02 ,  G05D1/021 ,  G05D1/0212 ,  B60K2370/12 ,  B60K2370/122 ,  B60K2370/128 ,  B60K2370/143 ,  B60K2370/175 ,  B60K2370/682 ,  B60W2540/215 ,  B60Y2302/05 ,  G05D2201/0212 ,  G08B25/016

Abstract: Aspects of the present disclosure relate to a vehicle for maneuvering a passenger to a destination autonomously. The vehicle includes one or more computing devices and a set of user input buttons for communicating requests to stop the vehicle and to initiate a trip to the destination with the one or more computing devices. The set of user input buttons consisting essentially of a dual-purpose button and an emergency stopping button different from the dual-purpose button configured to stop the vehicle. The dual-purpose button has a first purpose for communicating a request to initiate the trip to the destination and a second purpose for communicating a request to pull the vehicle over and stop the vehicle. The vehicle has no steering wheel and no user inputs for the steering, acceleration, and deceleration of the vehicle other than the set of user input buttons.

公开(公告)号：US11656623B1

公开(公告)日：2023-05-23

申请号：US17346544

申请日：2021-06-14

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Philip Nemec ,  Anne Aula

IPC: G05D1/00 ,  G05D1/02 ,  B62D15/02 ,  B60W30/16

CPC classification number: G05D1/021 ,  B60W30/16 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/00 ,  G05D1/0055 ,  G05D1/0287 ,  B60W2554/80 ,  B60W2554/801 ,  B60W2754/30

Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

公开(公告)号：US11643099B2

公开(公告)日：2023-05-09

申请号：US17091057

申请日：2020-11-06

Applicant: Waymo LLC

Inventor： Brian Douglas Cullinane ,  Philip Nemec ,  Manuel Christian Clement ,  Robertus Christianus Elisabeth Mariet ,  Lilli Ing-Marie Jonsson

IPC: G05D1/00 ,  B60W50/08 ,  B60R22/48 ,  B60K37/06 ,  B60W30/00 ,  G05D1/02 ,  B60K35/00 ,  B60R16/023 ,  B60R1/00 ,  B60W50/14 ,  B60W50/00

CPC classification number: B60W50/082 ,  B60K35/00 ,  B60K37/06 ,  B60R1/00 ,  B60R16/023 ,  B60R22/48 ,  B60W30/00 ,  G05D1/0061 ,  G05D1/0212 ,  G05D1/0223 ,  B60K2370/172 ,  B60K2370/175 ,  B60R2022/4866 ,  B60R2300/105 ,  B60W2050/0002 ,  B60W2050/0075 ,  B60W2050/146 ,  B60W2540/16 ,  B60W2540/215 ,  B60W2552/00 ,  B60W2552/20 ,  B60W2552/30 ,  B60W2554/801 ,  B60W2555/20 ,  B60W2556/00 ,  B60W2556/45 ,  B60W2556/50 ,  G05D2201/0213

Abstract: Aspects of the present disclosure relate switching between autonomous and manual driving modes. In order to do so, the vehicle's computer may conduct a series of environmental, system, and driver checks to identify certain conditions. The computer may correct some of these conditions and also provide a driver with a checklist of tasks for completion. Once the tasks have been completed and the conditions are changed, the computer may allow the driver to switch from the manual to the autonomous driving mode. The computer may also make a determination, under certain conditions, that it would be detrimental to the driver's safety or comfort to make a switch from the autonomous driving mode to the manual driving mode.