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51 条记录 (耗时 0.017 秒)

    Predicting trajectory intersection by another road user
    1.
    发明授权
    Predicting trajectory intersection by another road user 有权

    公开(公告)号：US11989666B1

    公开(公告)日：2024-05-21

    申请号：US18187005

    申请日：2023-03-21

    申请人： Waymo LLC

    发明人： Jens-Steffen Ralf Gutmann ,  Zhinan Xu

    IPC分类号： G06N5/04 ,  G05D1/00 ,  G06N20/00

    CPC分类号： G06N5/04 ,  G05D1/0088 ,  G06N20/00

    摘要： The technology relates to predicting that an object is going to enter into a trajectory of a vehicle. This may include receiving sensor data identifying a first location of the object in an environment of the vehicle at a first point in time and receiving sensor data identifying a second location of the object in the environment at a second point in time. In addition, a boundary of the trajectory is determined by defining at least a two-dimensional area through which the vehicle is expected to travel in the future. A first distance between the boundary and the first location and a second distance between the trajectory and the second location are determined. The first distance and the second distance are used to determine that the object is going to enter into the trajectory at a future point in time.

    Speed planning for autonomous vehicles
    3.
    发明授权
    Speed planning for autonomous vehicles 有权

    公开(公告)号：US11608060B1

    公开(公告)日：2023-03-21

    申请号：US16831980

    申请日：2020-03-27

    申请人： Waymo LLC

    发明人： Jens-Steffen Ralf Gutmann ,  Vadim Furman ,  Tobias Kunz

    IPC分类号： B60W30/14 ,  B60W60/00

    摘要： Aspects of the disclosure relate to identifying and adjusting speed plans for controlling a vehicle in an autonomous driving mode. In one example, an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle is identified. Data identifying an object and characteristics of that object is received from a perception system of the vehicle. A trajectory for the object that will intersect with the route at an intersection point at particular point in time is predicted using the data. A set of constraints is generated based on at least the trajectory. The speed plan is adjusted in order to satisfy the set of constraints for a second predetermined period of time corresponding to the amount of time. The vehicle is maneuvered in the autonomous driving mode according to the adjusted speed plan.

    Emergency braking for autonomous vehicles
    4.
    发明授权
    Emergency braking for autonomous vehicles 有权

    公开(公告)号：US11242040B2

    公开(公告)日：2022-02-08

    申请号：US17010090

    申请日：2020-09-02

    申请人： Waymo LLC

    发明人： Shiying Zhou ,  Jens-Steffen Ralf Gutmann

    IPC分类号： B60T8/171 ,  B60T8/17 ,  B60T7/22 ,  B60T8/58

    摘要： Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. For instance, information identifying a plurality of objects in the vehicle's environment and a confidence value for each of the objects is received. A set of constraints may be generated. That one or more processors are unable to solve for a trajectory given the set of constraints and an acceptable braking limit may be determined. A first constraint is identified as a constraint for which could not be solved and a first confidence value. That the vehicle should apply a maximum braking level is determined based on the identified first confidence value, a threshold, and the determination that the one or more processors are unable to solve for a trajectory. Based on the determination that the vehicle should apply the maximum braking level, the maximum braking level is applied.

    Detecting General Road Weather Conditions
    5.
    发明申请
    Detecting General Road Weather Conditions 有权

    公开(公告)号：US20210132628A1

    公开(公告)日：2021-05-06

    申请号：US17079693

    申请日：2020-10-26

    申请人： Waymo LLC

    发明人： David Harrison Silver ,  Jens-Steffen Ralf Gutmann ,  Michael James

    IPC分类号： G05D1/02 ,  G01S17/95 ,  G01S15/88 ,  G01S13/95 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  G01W1/02

    摘要： The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.

    Using wheel orientation to determine future heading
    7.
    发明授权
    Using wheel orientation to determine future heading 有权

    公开(公告)号：US10077047B2

    公开(公告)日：2018-09-18

    申请号：US15429275

    申请日：2017-02-10

    申请人： Waymo LLC

    发明人： Jens-Steffen Ralf Gutmann

    IPC分类号： B60W30/095 ,  B60W40/04 ,  B60W10/04 ,  B60W10/20 ,  B60W50/00 ,  B60W50/14 ,  G08G1/16

    摘要： The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.

    TRAFFIC SIGNAL RESPONSE FOR AUTONOMOUS VEHICLES
    10.
    发明申请
    TRAFFIC SIGNAL RESPONSE FOR AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20220161790A1

    公开(公告)日：2022-05-26

    申请号：US17670900

    申请日：2022-02-14

    申请人： WAYMO LLC

    发明人： Jens-Steffen Ralf Gutmann ,  Andreas Wendel ,  Nathaniel Fairfield ,  Dmitri A. Dolgov ,  Donald Jason Burnette

    IPC分类号： B60W30/09 ,  G08G1/0962 ,  G08G1/0967 ,  B60W30/18

    摘要： Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.