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公开(公告)号：US11242098B2
公开(公告)日：2022-02-08
申请号：US16562539
申请日：2019-09-06
Applicant: WAYMO LLC
Inventor： Vijaysai Patnaik , William Grossman
Abstract: The technology relates to enhancing the operation of autonomous vehicles. Extendible sensors are deployed based on detected or predicted conditions around a vehicle while operating in a self-driving mode. When not needed, the sensors are fully retracted into the vehicle to reduce drag and increase fuel economy. When the onboard system determines that there is a need for a deployable sensor, such as to enhance the field of view of the perception system, the sensor is extended in a predetermined manner. The deployment may depend on one or more operating conditions and/or particular driving scenarios. These and other sensors of the vehicle may be protected with a rugged housing, for instance to protect against damage from the elements. And in other situations, deployable foils may extend from the vehicle's chassis to increase drag and enhance braking. This may be helpful for large trucks in steep descent situations.
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公开(公告)号：US20210383318A1
公开(公告)日：2021-12-09
申请号：US16895271
申请日：2020-06-08
Applicant: Waymo LLC
Inventor： Vijaysai Patnaik , William Grossman , Peter Strohm
Abstract: The technology relates to cargo vehicles. National, regional and/or local regulations set requirements for operating cargo vehicles, including how to distribute and secure cargo, and how often the cargo should be inspected during a trip. However, such regulations have been focused on traditional human-driven vehicles. Aspects of the technology address various issues involved with securement and inspection of cargo before a trip, as well as monitoring during the trip so that corrective action may be taken as warranted. For instance, imagery and other sensor information may be used to enable proper securement of cargo before starting a trip. Onboard sensors along the vehicle monitor the cargo and securement devices/systems during the trip to identify issues as they arise. Such information is used by the onboard autonomous driving system (or a human driver) to take corrective action depending on the nature of the issue.
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公开(公告)号：US20210179052A1
公开(公告)日：2021-06-17
申请号：US16714906
申请日：2019-12-16
Applicant: Waymo LLC
Inventor： William Grossman , David James Smith
Abstract: Techniques for braking an autonomous vehicle include providing a pressurized fluid stream from a plurality of pressurized fluid sources to a plurality of pressure-controlled electronic braking assemblies; providing the pressurized fluid stream from a pressurized fluid control output of a first pressure-controlled electronic braking assembly directly to a pressurized fluid control input of a second pressure-controlled electronic braking assembly; providing the pressurized fluid stream from the second pressure-controlled electronic braking assembly to at least one vehicle brake set; providing sensor output data from one or more vehicle sensors to a plurality of electronic control units; and based at least in part on the sensor output data, controlling at least one of the first or second pressure-controlled electronic braking assemblies to adjust a pressure of the pressurized fluid stream from at least one of the first or second pressure-controlled electronic braking assemblies to the vehicle brake set.
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公开(公告)号：US20210024144A1
公开(公告)日：2021-01-28
申请号：US16562539
申请日：2019-09-06
Applicant: WAYMO LLC
Inventor： Vijaysai Patnaik , William Grossman
Abstract: The technology relates to enhancing the operation of autonomous vehicles. Extendible sensors are deployed based on detected or predicted conditions around a vehicle while operating in a self-driving mode. When not needed, the sensors are fully retracted into the vehicle to reduce drag and increase fuel economy. When the onboard system determines that there is a need for a deployable sensor, such as to enhance the field of view of the perception system, the sensor is extended in a predetermined manner. The deployment may depend on one or more operating conditions and/or particular driving scenarios. These and other sensors of the vehicle may be protected with a rugged housing, for instance to protect against damage from the elements. And in other situations, deployable foils may extend from the vehicle's chassis to increase drag and enhance braking. This may be helpful for large trucks in steep descent situations.
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公开(公告)号：US11927956B2
公开(公告)日：2024-03-12
申请号：US17408913
申请日：2021-08-23
Applicant: Waymo LLC
Inventor： Vijaysai Patnaik , William Grossman
CPC classification number: G05D1/0088 , B60W30/06 , G05D1/0214 , G05D1/0231 , G05D1/0295 , G06V20/584 , G08G1/096725 , G08G1/096791 , B60W2554/00 , G05D2201/0213 , G05D2201/0216 , G08G1/22
Abstract: The technology relates to assisting large self-driving vehicles, such as cargo vehicles, as they maneuver towards and/or park at a destination facility. This may include a given vehicle transitioning between different autonomous driving modes. Such a vehicles may be permitted to drive in a fully autonomous mode on certain roadways for the majority of a trip, but may need to change to a partially autonomous mode on other roadways or when entering or leaving a destination facility such as a warehouse, depot or service center. Large vehicles such as cargo truck may have limited room to maneuver in and park at the destination, which may also prevent operation in a fully autonomous mode. Here, information from the destination facility and/or a remote assistance service can be employed to aid in real-time semi-autonomous maneuvering.
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Patent Agency Ranking
公开(公告)号：US11927955B2
公开(公告)日：2024-03-12
申请号：US16548960
申请日：2019-08-23
Applicant: Waymo LLC
Inventor： Vijaysai Patnaik , William Grossman
CPC classification number: G05D1/0088 , B60W30/06 , G05D1/0214 , G05D1/0231 , G05D1/0295 , G06V20/584 , G08G1/096725 , G08G1/096791 , B60W2554/00 , G05D2201/0213 , G05D2201/0216 , G08G1/22
Abstract: The technology relates to assisting large self-driving vehicles, such as cargo vehicles, as they maneuver towards and/or park at a destination facility. This may include a given vehicle transitioning between different autonomous driving modes. Such a vehicles may be permitted to drive in a fully autonomous mode on certain roadways for the majority of a trip, but may need to change to a partially autonomous mode on other roadways or when entering or leaving a destination facility such as a warehouse, depot or service center. Large vehicles such as cargo truck may have limited room to maneuver in and park at the destination, which may also prevent operation in a fully autonomous mode. Here, information from the destination facility and/or a remote assistance service can be employed to aid in real-time semi-autonomous maneuvering.
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公开(公告)号：US11922362B2
公开(公告)日：2024-03-05
申请号：US18093870
申请日：2023-01-06
Applicant: WAYMO LLC
Inventor： Vijaysai Patnaik , William Grossman , Peter Strohm
IPC: G06Q10/0832 , B60R11/04 , B60W60/00 , G06T7/73 , G06V20/59
CPC classification number: G06Q10/0832 , B60R11/04 , B60W60/00256 , G06T7/74 , G06V20/59 , B60R2300/8006 , G06T2207/10048 , G06T2207/30268
Abstract: The technology relates to cargo vehicles. National, regional and/or local regulations set requirements for operating cargo vehicles, including how to distribute and secure cargo, and how often the cargo should be inspected during a trip. However, such regulations have been focused on traditional human-driven vehicles. Aspects of the technology address various issues involved with securement and inspection of cargo before a trip, as well as monitoring during the trip so that corrective action may be taken as warranted. For instance, imagery and other sensor information may be used to enable proper securement of cargo before starting a trip. Onboard sensors along the vehicle monitor the cargo and securement devices/systems during the trip to identify issues as they arise. Such information is used by the onboard autonomous driving system (or a human driver) to take corrective action depending on the nature of the issue.
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公开(公告)号：US11899466B2
公开(公告)日：2024-02-13
申请号：US17724559
申请日：2022-04-20
Applicant: WAYMO LLC
Inventor： William Grossman , Benjamin Pitzer
IPC: G05D1/02 , G01S17/87 , G01S17/931 , G01S13/86 , G01S7/481 , G01S17/86 , B60R1/12 , G01S13/931
CPC classification number: G05D1/0231 , B60R1/12 , G01S7/4813 , G01S13/865 , G01S13/867 , G01S17/86 , G01S17/87 , G01S17/931 , G05D1/0257 , B60R2001/1223 , G01S2013/93274 , G05D2201/0212 , G05D2201/0213
Abstract: The technology relates to autonomous vehicles for transporting cargo and/or people between locations. Distributed sensor arrangements may not be suitable for vehicles such as large trucks, busses or construction vehicles. Side view mirror assemblies are provided that include a sensor suite of different types of sensors, including LIDAR, radar, cameras, etc. Each side assembly is rigidly secured to the vehicle by a mounting element. The sensors within the assembly may be aligned or arranged relative to a common axis or physical point of the housing. This enables self-referenced calibration of all sensors in the housing. Vehicle-level calibration can also be performed between the sensors on the left and right sides of the vehicle. Each side view mirror assembly may include a conduit that provides one or more of power, data and cooling to the sensors in the housing.
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公开(公告)号：US20240025491A1
公开(公告)日：2024-01-25
申请号：US18474610
申请日：2023-09-26
Applicant: WAYMO LLC
Inventor： Vijaysai Patnaik , William Grossman
CPC classification number: B62D35/001 , G05D1/0238 , G01S17/89 , B60W30/18009 , B60W30/18109 , B60R1/00 , B60R2300/8093 , B60R2011/0082
Abstract: The technology relates to enhancing the operation of autonomous vehicles. Extendible sensors are deployed based on detected or predicted conditions around a vehicle while operating in a self-driving mode. When not needed, the sensors are fully retracted into the vehicle to reduce drag and increase fuel economy. When the onboard system determines that there is a need for a deployable sensor, such as to enhance the field of view of the perception system, the sensor is extended in a predetermined manner. The deployment may depend on one or more operating conditions and/or particular driving scenarios. These and other sensors of the vehicle may be protected with a rugged housing, for instance to protect against damage from the elements. And in other situations, deployable foils may extend from the vehicle's chassis to increase drag and enhance braking. This may be helpful for large trucks in steep descent situations.
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公开(公告)号：US11594037B1
公开(公告)日：2023-02-28
申请号：US16914803
申请日：2020-06-29
Applicant: Waymo LLC
Inventor： William Grossman , Peter Strohm
Abstract: Systems and methods for automated vehicle sensor calibration and verification are provided. One example method involves monitoring a vehicle using one or more external sensors of a vehicle calibration facility. The sensor data may be indicative of a relative position of the vehicle in the vehicle calibration facility. The method also involves causing the vehicle to navigate in an autonomous driving mode, based on the sensor data, from a current position of the vehicle to a first calibration position in the vehicle calibration facility. The method also involves causing a first sensor of the vehicle to perform a first calibration measurement while the vehicle is at the first calibration position. The method also involves calibrating the first sensor based on at least the first calibration measurement.
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