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公开(公告)号：US12093058B2
公开(公告)日：2024-09-17
申请号：US18204135
申请日：2023-05-31
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
CPC classification number: G05D1/0289 , G05D1/0088 , G05D1/0223
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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Patent Agency Ranking
公开(公告)号：US11327507B2
公开(公告)日：2022-05-10
申请号：US16383096
申请日：2019-04-12
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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公开(公告)号：US20240361770A1
公开(公告)日：2024-10-31
申请号：US18766734
申请日：2024-07-09
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
IPC: G05D1/00
CPC classification number: G05D1/0289
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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公开(公告)号：US20220229445A1
公开(公告)日：2022-07-21
申请号：US17712760
申请日：2022-04-04
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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公开(公告)号：US20230305577A1
公开(公告)日：2023-09-28
申请号：US18204135
申请日：2023-05-31
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
CPC classification number: G05D1/0289 , G05D1/0223 , G05D1/0088
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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公开(公告)号：US11709503B2
公开(公告)日：2023-07-25
申请号：US17712760
申请日：2022-04-04
Applicant: Waymo LLC
Inventor： Dong Li , Matthew McNaughton , Shir Yehoshua , Aida Khosroshahi , Ioan-Alexandru Sucan
CPC classification number: G05D1/0289 , G05D1/0088 , G05D1/0223
Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.
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