公开(公告)号：US11851092B1

公开(公告)日：2023-12-26

申请号：US17865535

申请日：2022-07-15

Applicant: WAYMO LLC

Inventor： Jennifer Iglesias ,  Diomidis Katzourakis ,  Kerrie Wu ,  Bruce Lin

IPC: B60W60/00 ,  B62D15/02 ,  B60W50/16 ,  B60W50/14

CPC classification number: B60W60/0053 ,  B60W50/16 ,  B60W60/001 ,  B62D15/021 ,  B60W2050/146

Abstract: The technology involves determining a minimum lateral gap distance between a vehicle configured for autonomous driving and one or more other objects in the vehicle's environment. The minimum lateral gap is used when determining whether to have a driver take over control of certain driving operations. This provides a measure of safety during disengagements or other change of control events. Determining the minimum lateral gap includes calculating a budgeted distance based on a cross-track error for a lateral position of the vehicle, an allowed actual gap distance to an object in the vehicle's environment, and a perception error associated with a location of the object in the vehicle's environment. This determination can be done for a set of possible operating speeds and steering rate limit combinations. The vehicle's control system may notify the driver to take control, for instance with audible, visual and/or haptic notifications.

公开(公告)号：US11427226B1

公开(公告)日：2022-08-30

申请号：US17122006

申请日：2020-12-15

Applicant: WAYMO LLC

Inventor： Jennifer Iglesias ,  Diomidis Katzourakis ,  Kerrie Wu ,  Bruce Lin

IPC: B60W60/00 ,  B62D15/02 ,  B60W50/16 ,  B60W50/14

Abstract: The technology involves determining a minimum lateral gap distance between a vehicle configured for autonomous driving and one or more other objects in the vehicle's environment. The minimum lateral gap is used when determining whether to have a driver take over control of certain driving operations. This provides a measure of safety during disengagements or other change of control events. Determining the minimum lateral gap includes calculating a budgeted distance based on a cross-track error for a lateral position of the vehicle, an allowed actual gap distance to an object in the vehicle's environment, and a perception error associated with a location of the object in the vehicle's environment. This determination can be done for a set of possible operating speeds and steering rate limit combinations. The vehicle's control system may notify the driver to take control, for instance with audible, visual and/or haptic notifications.