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公开(公告)号：US12116014B2
公开(公告)日：2024-10-15
申请号：US17388843
申请日：2021-07-29
Applicant: Waymo LLC
Inventor： Victor Puchkarev , Alexander Ruben Stacey McCarthy , Aleix Paris i Bordas , Jennifer Iglesias , Allison Thackston , Xinrui Wang
CPC classification number: B60W60/0027 , B60W50/0205 , B60W2552/05 , B60W2554/801 , B60W2555/20
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A first error value for a boundary of an object, a second error value for a location of the autonomous vehicle, a third error value for a predicted future location of the object may be received. An uncertainty value for the object may be determined by combining the first error value, the second error value, and the third error value. A lateral gap threshold for the object may be determined based on the uncertainty value. The autonomous vehicle may be controlled in an autonomous driving mode based on the lateral gap threshold for the object.
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公开(公告)号：US20250002051A1
公开(公告)日：2025-01-02
申请号：US18883353
申请日：2024-09-12
Applicant: Waymo LLC
Inventor： Victor Puchkarev , Alexander Ruben Stacey McCarthy , Aleix Paris i Bordas , Jennifer Iglesias , Allison Thackston , Xinrui Wang
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A first error value for a boundary of an object, a second error value for a location of the autonomous vehicle, a third error value for a predicted future location of the object may be received. An uncertainty value for the object may be determined by combining the first error value, the second error value, and the third error value. A lateral gap threshold for the object may be determined based on the uncertainty value. The autonomous vehicle may be controlled in an autonomous driving mode based on the lateral gap threshold for the object.
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公开(公告)号：US20230030104A1
公开(公告)日：2023-02-02
申请号：US17388843
申请日：2021-07-29
Applicant: Waymo LLC
Inventor： Victor Puchkarev , Alexander Ruben Stacey McCarthy , Aleix Paris i Bordas , Jennifer Iglesias , Allison Thackston , Xinrui Wang
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A first error value for a boundary of an object, a second error value for a location of the autonomous vehicle, a third error value for a predicted future location of the object may be received. An uncertainty value for the object may be determined by combining the first error value, the second error value, and the third error value. A lateral gap threshold for the object may be determined based on the uncertainty value. The autonomous vehicle may be controlled in an autonomous driving mode based on the lateral gap threshold for the object.
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