公开(公告)号：US12280770B1

公开(公告)日：2025-04-22

申请号：US18588769

申请日：2024-02-27

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz

IPC: B60W30/09 ,  B60W30/095 ,  B60W30/182 ,  G05D1/00

Abstract: A first driving solution for a vehicle along a portion of a route is determined based on an agent detected in the vehicle's environment following a first trajectory of a plurality of possible trajectories. A switching time is determined for the vehicle to deviate from the first driving solution for a situation in which the agent is following a second trajectory of the plurality of possible trajectories. The first driving solution is revised such that the vehicle will be able to switch from the revised first driving solution to another driving solution at the switching time in case if the detected agent is following the second trajectory.

公开(公告)号：US20230068703A1

公开(公告)日：2023-03-02

申请号：US17511053

申请日：2021-10-26

Applicant: WAYMO LLC

Inventor： Tirthkumar Nilaykumar Pandya ,  Eric Deng ,  Chinmayee Shah ,  Jared Stephen Russell ,  Geoffrey Lalonde ,  Anne Hobbs Dorsey

IPC: B60W60/00

Abstract: A system for estimating a spacing profile for a road agent includes a first module and a second module. The first module includes instructions that cause one or more processors to receive data related to characteristics of the road agent and road agent behavior detected in an environment of an autonomous vehicle, initiate an analysis of the road agent behavior, and estimate the spacing profile of the road agent as part of the analysis. The spacing profile includes a lateral gap preference and predicted behaviors of the road agent related to changes in lateral gap. The second module includes instructions that cause the one or more processors to determine one or more components of autonomous vehicle maneuver based on the estimated spacing profile and send control instructions for performing the autonomous vehicle maneuver.

公开(公告)号：US11307587B2

公开(公告)日：2022-04-19

申请号：US17035115

申请日：2020-09-28

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Jens-Steffen Ralf Gutmann

IPC: G06T7/70 ,  G05D1/00 ,  G06V20/58 ,  G06V20/56

Abstract: The disclosure provides a method for operating an autonomous vehicle. To operate the autonomous vehicle, a plurality of lane segments that are in an environment of the autonomous vehicle is determined and a first object and a second object in the environment are detected. A first position for the first object is determined in relation to the plurality of lane segments, and particular lane segments that are occluded by the first object are determined using the first position. According to the occluded lane segments, a reaction time is determined for the second object and a driving instruction for the autonomous vehicle is determined according to the reaction time. The autonomous vehicle is then operated based on the driving instruction.

公开(公告)号：US20210276554A1

公开(公告)日：2021-09-09

申请号：US17232680

申请日：2021-04-16

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G01C21/34 ,  G05D1/00

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US11048927B2

公开(公告)日：2021-06-29

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：US20210139048A1

公开(公告)日：2021-05-13

申请号：US17132806

申请日：2020-12-23

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Clovis Scotti

IPC: B60W60/00

Abstract: An autonomous vehicle is operated along a route according to a nominal driving solution that takes into account one or more first constraints including a first predicted trajectory for an agent vehicle. An alternate scenario is determined based on one or more second external constraints that include a second predicted trajectory for the agent vehicle different from the first predicted trajectory. A risk factor on the nominal driving solution is determined for the alternative scenario, and a secondary driving solution is determined based on the risk factor and the one or more second external constraints. A candidate switching point is identified where the secondary driving solution diverges from the nominal driving solution, and the nominal driving solution is revised up to the candidate switching point based on the secondary driving solution. The autonomous vehicle is then operated based on the revised nominal driving solution.

公开(公告)号：US10202118B2

公开(公告)日：2019-02-12

申请号：US15293503

申请日：2016-10-14

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US20180105174A1

公开(公告)日：2018-04-19

申请号：US15293503

申请日：2016-10-14

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W30/18 ,  B60W2400/00 ,  B60W2550/10 ,  B60W2550/20 ,  B60W2720/10 ,  G01C21/3407 ,  G05D1/0214 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/167 ,  G08G1/202

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US20250074470A1

公开(公告)日：2025-03-06

申请号：US18950841

申请日：2024-11-18

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Clovis Scotti

IPC: B60W60/00

Abstract: An autonomous vehicle is operated along a route according to a nominal driving solution that takes into account one or more first constraints including a first predicted trajectory for an agent vehicle. An alternate scenario is determined based on one or more second external constraints that include a second predicted trajectory for the agent vehicle different from the first predicted trajectory. A risk factor on the nominal driving solution is determined for the alternative scenario, and a secondary driving solution is determined based on the risk factor and the one or more second external constraints. A candidate switching point is identified where the secondary driving solution diverges from the nominal driving solution, and the nominal driving solution is revised up to the candidate switching point based on the secondary driving solution. The autonomous vehicle is then operated based on the revised nominal driving solution.

公开(公告)号：US11934193B2

公开(公告)日：2024-03-19

申请号：US16855337

申请日：2020-04-22

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Mark Paskin

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16

CPC classification number: G05D1/0223 ,  G05D1/0088 ,  G05D1/0214 ,  G08G1/166 ,  G08G1/167 ,  B60W2520/10 ,  B60W2554/00 ,  B60W2720/10 ,  G05D2201/0213

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.