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：US10915762B1

公开(公告)日：2021-02-09

申请号：US16212833

申请日：2018-12-07

Applicant: Waymo LLC

Inventor： Jared Stephen Russell

IPC: G06K9/00 ,  G06K9/62 ,  G06T7/20 ,  G05D1/02

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：US20190129432A1

公开(公告)日：2019-05-02

申请号：US15798926

申请日：2017-10-31

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Fang Da

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0214 ,  G05D1/0088 ,  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：US20190122037A1

公开(公告)日：2019-04-25

申请号：US15791602

申请日：2017-10-24

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Kai Ding

IPC: G06K9/00 ,  B60W30/095 ,  G08G1/16 ,  G05D1/02 ,  G05D1/00

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：US20190121362A1

公开(公告)日：2019-04-25

申请号：US15791623

申请日：2017-10-24

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Mark Paskin

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.