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公开(公告)号：US11618477B2
公开(公告)日：2023-04-04
申请号：US16930644
申请日：2020-07-16
Applicant: WAYMO LLC
Inventor： Carlos Rivera , Austin Abrams , David Yonchar Margines
Abstract: Aspects of the disclosure provide for the generation of a service area map for autonomous vehicles. For instance, graph nodes of a road network may be iterated through in order to identify a set of reachable graph nodes based on a set of routing parameters that define driving limits for the autonomous vehicles. The road network may include the graph nodes as well as edges connecting ones of the graph nodes. A set of S2 cells may be identified based on the set of reachable graph nodes. Vertices of each S2 cell of the set of S2 cells may be determined based on whether each S2 cell of the set of S2 cells is occupied by any of the graph nodes of the set of reachable graph nodes. Contours through cells may be drawn based on the scores. The service area map may be generated using the contours.
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公开(公告)号：US20230391363A1
公开(公告)日：2023-12-07
申请号：US17830021
申请日：2022-06-01
Applicant: Waymo LLC
Inventor： Carl Yang , Celia Zhang , Victor Chan , Lauren Schwendimann , Kevin Malta , Sahil Bahri , Austin Abrams
CPC classification number: B60W60/0011 , G01C21/3484 , B60W2540/215
Abstract: Aspects of the disclosure relate to controlling an autonomous vehicle. For instance, dispatching instructions including a destination location and a trip plan identifying a selected route may be received. The route was selected by a user from a set of two or more routes. The trip plan may be used to determine whether to user the selected route or a new route. The autonomous vehicle may be controlled to the destination location based on the determination.
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公开(公告)号：US11105642B2
公开(公告)日：2021-08-31
申请号：US16387098
申请日：2019-04-17
Applicant: Waymo LLC
Inventor： Austin Abrams
Abstract: Aspects of the disclosure provide for identifying problematic areas within a service area for an autonomous vehicle transportation service. For instance, a starting location within the service area corresponding to a potential pickup location for passengers or cargo for the service may be identified. A destination within the service area may be identified. A simulation may be run in order to determine a route for a simulated vehicle to travel between the starting location and the destination. That the route includes a particular type of maneuver may be determined. A new simulation without allowing the simulated vehicle to complete the particular type of maneuver may be run. Whether the simulated vehicle reaches the destination in the new simulation may be determined. Based on the determination of whether the simulated vehicle reaches the destination in the new simulation, the starting location and destination location may be flagged as potentially problematic areas.
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公开(公告)号：US20230278592A1
公开(公告)日：2023-09-07
申请号：US18117767
申请日：2023-03-06
Applicant: WAYMO LLC
Inventor： Carlos Rivera , Austin Abrams , David Yonchar Margines
CPC classification number: B60W60/0025 , G01C21/3461 , G01C21/3807
Abstract: Aspects of the disclosure provide for the generation of a service area map for autonomous vehicles. For instance, graph nodes of a road network may be iterated through in order to identify a set of reachable graph nodes based on a set of routing parameters that define driving limits for the autonomous vehicles. The road network may include the graph nodes as well as edges connecting ones of the graph nodes. A set of S2 cells may be identified based on the set of reachable graph nodes. Vertices of each S2 cell of the set of S2 cells may be determined based on whether each S2 cell of the set of S2 cells is occupied by any of the graph nodes of the set of reachable graph nodes. Contours through cells may be drawn based on the scores. The service area map may be generated using the contours.
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公开(公告)号：US20220017116A1
公开(公告)日：2022-01-20
申请号：US16930644
申请日：2020-07-16
Applicant: WAYMO LLC
Inventor： Carlos Rivera , Austin Abrams , David Yonchar Margines
Abstract: Aspects of the disclosure provide for the generation of a service area map for autonomous vehicles. For instance, graph nodes of a road network may be iterated through in order to identify a set of reachable graph nodes based on a set of routing parameters that define driving limits for the autonomous vehicles. The road network may include the graph nodes as well as edges connecting ones of the graph nodes. A set of S2 cells may be identified based on the set of reachable graph nodes. Vertices of each S2 cell of the set of S2 cells may be determined based on whether each S2 cell of the set of S2 cells is occupied by any of the graph nodes of the set of reachable graph nodes. Contours through cells may be drawn based on the scores. The service area map may be generated using the contours.
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Patent Agency Ranking
公开(公告)号：US11892307B2
公开(公告)日：2024-02-06
申请号：US17381276
申请日：2021-07-21
Applicant: Waymo LLC
Inventor： Austin Abrams
CPC classification number: G01C21/3461 , G01C21/3438 , G06F30/20
Abstract: Aspects of the disclosure provide for identifying problematic areas within a service area for an autonomous vehicle transportation service. For instance, a starting location within the service area corresponding to a potential pickup location for passengers or cargo for the service may be identified. A destination within the service area may be identified. A simulation may be run in order to determine a route for a simulated vehicle to travel between the starting location and the destination. That the route includes a particular type of maneuver may be determined. A new simulation without allowing the simulated vehicle to complete the particular type of maneuver may be run. Whether the simulated vehicle reaches the destination in the new simulation may be determined. Based on the determination of whether the simulated vehicle reaches the destination in the new simulation, the starting location and destination location may be flagged as potentially problematic areas.
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公开(公告)号：US20230393574A1
公开(公告)日：2023-12-07
申请号：US18216721
申请日：2023-06-30
Applicant: Waymo LLC
Inventor： Carl Yang , Jialiu Lin , Austin Abrams , Vishay Nihalani
CPC classification number: G05D1/0061 , G05D1/0282 , G05D1/0214 , G05D1/0278
Abstract: Aspects of the disclosure provide for determining whether a vehicle is in a loop for an autonomous vehicle. For instance, a route from a current location of the vehicle to a destination for a trip may be generated. Locations traversed by the vehicle during the trip may be tracked. Locations of the route may be compared to the tracked locations to determine an overlap value. Whether the vehicle is in a loop may be determined based on the overlap value.
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公开(公告)号：US20210348933A1
公开(公告)日：2021-11-11
申请号：US17381276
申请日：2021-07-21
Applicant: Waymo LLC
Inventor： Austin Abrams
Abstract: Aspects of the disclosure provide for identifying problematic areas within a service area for an autonomous vehicle transportation service. For instance, a starting location within the service area corresponding to a potential pickup location for passengers or cargo for the service may be identified. A destination within the service area may be identified. A simulation may be run in order to determine a route for a simulated vehicle to travel between the starting location and the destination. That the route includes a particular type of maneuver may be determined. A new simulation without allowing the simulated vehicle to complete the particular type of maneuver may be run. Whether the simulated vehicle reaches the destination in the new simulation may be determined. Based on the determination of whether the simulated vehicle reaches the destination in the new simulation, the starting location and destination location may be flagged as potentially problematic areas.
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公开(公告)号：US20240067213A1
公开(公告)日：2024-02-29
申请号：US18505516
申请日：2023-11-09
Applicant: WAYMO LLC
Inventor： Nathaniel Fairfield , Benjamin Pitzer , Austin Abrams , Christopher Bowen
CPC classification number: B60W60/001 , B60W30/18163 , B60W40/04 , G01C21/3453 , B60W2556/50
Abstract: The technology relates to route planning and performing driving operations in autonomous vehicles, such as cargo trucks, articulating buses, as well as other vehicles. A detailed kinematic model of the vehicle in evaluated in conjunction with roadgraph and other information to determine whether a route or driving operation is feasible for the vehicle. This can include evaluating a hierarchical set of driving rules and whether current driving conditions impact any of the rules. Driving trajectories and cost can be evaluated when pre-planning a route for the vehicle to follow. This can include determining an ideal trajectory for the vehicle to take a particular driving action. Pre-planned routes may be shared with a fleet of vehicles, and can be modified based on information obtained by different vehicles of the fleet.
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公开(公告)号：US11851082B2
公开(公告)日：2023-12-26
申请号：US17120353
申请日：2020-12-14
Applicant: WAYMO LLC
Inventor： Nathaniel Fairfield , Benjamin Pitzer , Austin Abrams , Christopher Bowen
CPC classification number: B60W60/001 , B60W30/18163 , B60W40/04 , G01C21/3453 , B60W2556/50
Abstract: The technology relates to route planning and performing driving operations in autonomous vehicles, such as cargo trucks, articulating buses, as well as other vehicles. A detailed kinematic model of the vehicle in evaluated in conjunction with roadgraph and other information to determine whether a route or driving operation is feasible for the vehicle. This can include evaluating a hierarchical set of driving rules and whether current driving conditions impact any of the rules. Driving trajectories and cost can be evaluated when pre-planning a route for the vehicle to follow. This can include determining an ideal trajectory for the vehicle to take a particular driving action. Pre-planned routes may be shared with a fleet of vehicles, and can be modified based on information obtained by different vehicles of the fleet.
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