公开(公告)号：US12116018B2

公开(公告)日：2024-10-15

申请号：US17558680

申请日：2021-12-22

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz ,  Anup Menon

IPC: B60W60/00

CPC classification number: B60W60/00276 ,  B60W60/00272 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/801 ,  B60W2554/803 ,  B60W2554/804 ,  B60W2720/10 ,  B60W2720/12

Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan.

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：US11608060B1

公开(公告)日：2023-03-21

申请号：US16831980

申请日：2020-03-27

Applicant: Waymo LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Vadim Furman ,  Tobias Kunz

IPC: B60W30/14 ,  B60W60/00

Abstract: 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.

公开(公告)号：US11192545B1

公开(公告)日：2021-12-07

申请号：US16210652

申请日：2018-12-05

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz

IPC: B60W30/09 ,  B60W30/095 ,  G05D1/00 ,  G05D1/02 ,  B60W30/182

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：US20200148204A1

公开(公告)日：2020-05-14

申请号：US16188619

申请日：2018-11-13

Applicant: Waymo LLC

Inventor： Tobias Kunz

IPC: B60W30/16 ,  G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. This vehicle may be determined to be a tailgating vehicle. An initial allowable discomfort value representing expected discomfort of an occupant of the first vehicle and expected discomfort of an occupant of the second vehicle may be identified. Determining a speed profile for a future trajectory of the first vehicle that meets the value may be attempted based on a set of factors corresponding to a reaction of the tailgating vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.

公开(公告)号：US12005897B1

公开(公告)日：2024-06-11

申请号：US18111985

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Vadim Furman ,  Tobias Kunz

IPC: B60W30/14 ,  B60W60/00

CPC classification number: B60W30/143 ,  B60W60/0027

Abstract: 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.

公开(公告)号：US11762392B2

公开(公告)日：2023-09-19

申请号：US16817865

申请日：2020-03-13

Applicant: WAYMO LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Tobias Kunz ,  Vadim Furman

IPC: G05D1/02 ,  G05D1/00 ,  B60W30/08

CPC classification number: G05D1/0223 ,  B60W30/08 ,  G05D1/0088 ,  G05D2201/0213

Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be identified. Determining a speed profile for the geometry that meets the value may be attempted by determining a discomfort value for the speed profile based on a set of factors relating to at least discomfort of a passenger of the first vehicle and discomfort of a passenger of the second vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.

公开(公告)号：US20210237730A1

公开(公告)日：2021-08-05

申请号：US17194731

申请日：2021-03-08

Applicant: Waymo LLC.

Inventor： Tobias Kunz

IPC: B60W30/16 ,  G05D1/02 ,  G05D1/00

Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. This vehicle may be determined to be a tailgating vehicle. An initial allowable discomfort value representing expected discomfort of an occupant of the first vehicle and expected discomfort of an occupant of the second vehicle may be identified. Determining a speed profile for a future trajectory of the first vehicle that meets the value may be attempted based on a set of factors corresponding to a reaction of the tailgating vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.

公开(公告)号：US20200272161A1

公开(公告)日：2020-08-27

申请号：US16817865

申请日：2020-03-13

Applicant: WAYMO LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Tobias Kunz ,  Vadim Furman

IPC: G05D1/02 ,  G05D1/00 ,  B60W30/08

Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be identified. Determining a speed profile for the geometry that meets the value may be attempted by determining a discomfort value for the speed profile based on a set of factors relating to at least discomfort of a passenger of the first vehicle and discomfort of a passenger of the second vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.

公开(公告)号：US20250002052A1

公开(公告)日：2025-01-02

申请号：US18828295

申请日：2024-09-09

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz ,  Anup Menon

IPC: B60W60/00

Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan. Aspects of the technology employ permeable speed constraints that enable the vehicle to avoid problems associated with discontinuous constraints.