公开(公告)号：US09690296B1

公开(公告)日：2017-06-27

申请号：US14872270

申请日：2015-10-01

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/26

CPC classification number: G05D1/0214 ,  B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W50/0097 ,  B60W2550/20 ,  B60W2720/10 ,  G01C21/26 ,  G05D1/0061 ,  G05D1/0088 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.

公开(公告)号：US20170158175A1

公开(公告)日：2017-06-08

申请号：US14959067

申请日：2015-12-04

Applicant: WAYMO LLC

Inventor： Nathaniel Fairfield

IPC: B60T7/12 ,  G05D1/00

CPC classification number: B60T7/12 ,  B60T7/22 ,  B60T8/17558 ,  B60T2201/024 ,  B60T2210/36 ,  G05D1/0055 ,  G05D1/0077 ,  G05D1/0088 ,  G05D2201/0213

Abstract: Aspects of the disclosure involve a collision mitigated braking system employed in vehicles operating in a self-driving (autonomous) mode. Collision mitigated braking provides redundancy to the vehicle's main driving system in emergency situations. The collision mitigated braking system is configured to cause the vehicle to come to a stop when an imminent collision is perceived and the main driving system has not initiated a braking maneuver. A perception component employs information received from vehicle sensors, analyzing the sensor data to identify nearby objects of interest that are determined to be in the vehicle's path or that could otherwise collide with the vehicle. A control component evaluates the objects of interest to determine whether immediate braking is required. If this is the case and the main driving system has not begun to brake, the control component causes the vehicle to perform immediate braking to avoid a possible collision.

公开(公告)号：US20250153738A1

公开(公告)日：2025-05-15

申请号：US18959843

申请日：2024-11-26

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Donald Jason Burnette

IPC: B60W60/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/00 ,  B60W30/14 ,  G01C21/00 ,  G01C21/26 ,  G01C21/34 ,  G01S13/931 ,  G01S19/42 ,  G05D1/00 ,  G05D1/247 ,  G05D1/249 ,  G06V20/56 ,  G06V20/58

Abstract: Aspects of the present disclosure relate to differentiating between active and inactive construction zones. In one example, this may include identifying a construction object associated with a construction zone. The identified construction object may be used to map the area of the construction zone. Detailed map information may then be used to classify the activity of the construction zone. The area of the construction zone and the classification may be added to the detailed map information. Subsequent to adding the construction zone and the classification to the detailed map information, the construction object (or another construction object) may be identified. The location of the construction object may be used to identify the construction zone and classification from the detailed map information. The classification of the classification may be used to operate a vehicle having an autonomous mode.

公开(公告)号：US12296855B2

公开(公告)日：2025-05-13

申请号：US17227177

申请日：2021-04-09

Applicant: Waymo LLC

Inventor： Vishu Goyal ,  Shen Zhang

IPC: B60W60/00 ,  G05D1/00 ,  G06N5/04 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating unmapped U-turn predictions using a machine learning model. One of the methods includes obtaining features of an agent travelling on a roadway. One or more unmapped U-turn regions in a vicinity of the agent on the roadway are identified. For each of the unmapped U-turn regions and from at least the features of the agent, a respective likelihood score that represents a likelihood that the agent intends to make an unmapped U-turn at the unmapped U-turn region is generated. Based on the respective likelihood scores, one or more of the unmapped U-turn regions are selected. For each selected unmapped U-turn region, data specifying a candidate future trajectory in which the agent makes the unmapped U-turn at the selected unmapped U-turn region is provided as a possible future trajectory for the agent.

公开(公告)号：US12296828B2

公开(公告)日：2025-05-13

申请号：US18511793

申请日：2023-11-16

Applicant: Waymo LLC

Inventor： David Smith ,  Kevin Yoon

IPC: B60W30/18 ,  B60W60/00 ,  G01C21/34

Abstract: A method includes identifying map data comprising driving constraint data for a route of an autonomous vehicle (AV), the map data being of a road network associated with the route of the AV, the driving constraint data being based on physical vehicle data. The method further includes, while the AV is travelling the route, identifying current environmental sensing data for a portion of the route. The method further includes causing, based on the map data comprising the driving constraint data for the route and the current environmental sensing data associated with the portion of the route, the AV to travel the portion of the route.

公开(公告)号：US20250147509A1

公开(公告)日：2025-05-08

申请号：US19011765

申请日：2025-01-07

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Qichi Yang

IPC: G05D1/00 ,  B60W30/18 ,  G06V20/58

Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.

公开(公告)号：US20250130317A1

公开(公告)日：2025-04-24

申请号：US18999012

申请日：2024-12-23

Applicant: Waymo LLC

Inventor： Youming Qin ,  Paul Karplus

IPC: G01S7/481 ,  G01S7/00 ,  G01S17/00 ,  G01S17/931 ,  G08C17/02 ,  H02J50/10 ,  H04B5/24 ,  H04L5/00 ,  H04W4/38

Abstract: A sensing device includes a stationary portion and a rotating portion. The rotating portion is spaced apart from the stationary portion by a gap and is configured to rotate relative to the stationary portion. The rotating portion includes one or more sensors that generate data. A communication interface in the rotating portion is configured to encode the data with error correction codes to provide encoded data, modulate a radio frequency (RF) signal that includes a plurality of sub-carriers with the encoded data to provide a data-modulated RF signal (e.g., an orthogonal frequency-division multiplexing (OFDM) signal), and transmit the data-modulated RF signal to the stationary portion via a wireless data transformer. The wireless data transformer includes a first conductive structure in the stationary portion and a second conductive structure in the rotating portion. The first and second conductive structures are inductively coupled together across the gap.

公开(公告)号：US12280803B2

公开(公告)日：2025-04-22

申请号：US18608300

申请日：2024-03-18

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews

IPC: B60W60/00 ,  B60W40/02 ,  B60W50/06 ,  G06N5/04 ,  G06N20/00 ,  G10L25/51 ,  H04R1/40 ,  H04R3/00

Abstract: The technology relates to determining a source of a horn honk or other noise in an environment around one or more self-driving vehicles. Aspects of the technology leverage real-time information from a group of self-driving vehicles regarding received acoustical information. The location and pose of each self-driving vehicle in the group, along with the precise arrangement of acoustical sensors on each vehicle, can be used to triangulate or otherwise identify the actual location in the environment for the origin of the horn honk or other sound. Other sensor information, map data, and additional data can be used narrow down or refine the location of a likely noise source. Once the location and source of the noise is known, each self-driving vehicle can use that information to modify current driving operations and/or use it as part of a reinforcement learning approach for future driving situations.

公开(公告)号：US12280797B2

公开(公告)日：2025-04-22

申请号：US17863758

申请日：2022-07-13

Applicant: Waymo LLC

Inventor： Oskar Sandberg ,  Daniel Sparks ,  Shahab Kaynama ,  Jonathan Mulligan

IPC: B60W60/00 ,  B60W30/14 ,  B60W40/06 ,  G01C21/34

Abstract: Aspects of the disclosure provide controlling an autonomous vehicle. For example, a first trajectory generated by a first planning system may be received. A portion of the first trajectory may be input into a second planning system. A second trajectory generated by the second planning system based on the portion of the first trajectory may be received. The second trajectory may be used to determine whether to validate the first trajectory, and when the second trajectory is determined to be validated, the autonomous vehicle may be enabled to be controlled based on the first trajectory.

公开(公告)号：US12278428B2

公开(公告)日：2025-04-15

申请号：US18307929

申请日：2023-04-27

Applicant: Waymo LLC

Inventor： Edwin Lim ,  Timothy Campbell ,  Matthew Markel

IPC: H01Q19/13 ,  H01Q1/32 ,  H01Q13/02

Abstract: Example embodiments relate to low elevation side lobe antennas with fan-shaped beams. An example radar unit may include a radiating plate having a first side and a second side with an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve extending into the first side of the radiating plate. The waveguide opening is positioned on the first end of the first side and the radiating sleeve is positioned on the second end of the first side. The radar unit also includes a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form waveguide structures. The waveguide horn is configured to receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide and provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through the radiating sleeve into an environment of the radar unit as one or more radar signals.