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公开(公告)号：US20230093126A1
公开(公告)日：2023-03-23
申请号：US17477692
申请日：2021-09-17
Applicant: WAYMO LLC
Inventor： Shir Yehoshua , Benjamin Charrow
Abstract: The technology involves evaluating components of an autonomous vehicle that can be meaningfully evaluated over a single operational iteration. One or more snapshots of single iteration scenarios can be tested quickly and efficiently, either on vehicle or via a back-end system. Each snapshot corresponds to a particular point in time when a given component runs. Each snapshot contains a serialized set of inputs necessary to evaluate the particular component. These inputs comprise the minimal amount of information needed to accurately and faithfully recreate what the component did or does. Each snapshot is triggered at the particular point in time based on one or more criteria associated with either a driving scenario or a component of the vehicle during autonomous driving. A serialized snapshot may be retrieved from storage and deserialized, so that the system may evaluate the state of the component at the particular point in time.
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公开(公告)号：US20240190471A1
公开(公告)日：2024-06-13
申请号：US18442837
申请日：2024-02-15
Applicant: Waymo LLC
Inventor： Benjamin Charrow , Nathaniel Fairfield
CPC classification number: B60W60/0016 , B60W30/18154 , G08G1/166 , G08G1/167 , B60W2420/403 , B60W2420/408 , B60W2420/54 , B60W2552/53 , B60W2554/60 , B60W2554/80 , B60W2554/802 , B60W2556/40 , G06V20/588
Abstract: The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.
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公开(公告)号：US20210240184A1
公开(公告)日：2021-08-05
申请号：US17215574
申请日：2021-03-29
Applicant: Waymo LLC
Inventor： Benjamin Charrow , Nathaniel Fairfield
Abstract: The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.
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公开(公告)号：US20250004470A1
公开(公告)日：2025-01-02
申请号：US18883455
申请日：2024-09-12
Applicant: Waymo LLC
Inventor： Guillaume Dupre , Benjamin Charrow
Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. In one instance, a default number of trajectories to be generated may be identified. A set of maneuvering options may be selected from a set of predetermined maneuvering options based on the number of trajectories. The set of maneuvering options may be filtered based on the default number of trajectories. A set of trajectories may be generated based on the filtered set of maneuvering option such that each trajectory of the set corresponds to a different maneuvering behavior. A cost for each trajectory of the set of trajectories may be determined, and one of the trajectories of the set of trajectories may be selected based on the determined costs. The vehicle may be maneuvered in the autonomous driving mode according to the selected one of the trajectories.
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公开(公告)号：US12124263B2
公开(公告)日：2024-10-22
申请号：US17573048
申请日：2022-01-11
Applicant: Waymo LLC
Inventor： Guillaume Dupre , Benjamin Charrow
CPC classification number: G05D1/0214 , B60W50/0098 , G01C21/3461 , G05D1/0088 , B60W2050/0052
Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. In one instance, a default number of trajectories to be generated may be identified. A set of maneuvering options may be selected from a set of predetermined maneuvering options based on the number of trajectories. The set of maneuvering options may be filtered based on the default number of trajectories. A set of trajectories may be generated based on the filtered set of maneuvering option such that each trajectory of the set corresponds to a different maneuvering behavior. A cost for each trajectory of the set of trajectories may be determined, and one of the trajectories of the set of trajectories may be selected based on the determined costs. The vehicle may be maneuvered in the autonomous driving mode according to the selected one of the trajectories.
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Patent Agency Ranking
公开(公告)号：US20180259957A1
公开(公告)日：2018-09-13
申请号：US15454271
申请日：2017-03-09
Applicant: Waymo LLC
Inventor： Benjamin Charrow , Nathaniel Fairfield
CPC classification number: G05D1/0088 , B62D15/0265 , G01C21/26 , G05D1/021 , G06K9/00798 , G08G1/166 , G08G1/167
Abstract: The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.
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公开(公告)号：US11938967B2
公开(公告)日：2024-03-26
申请号：US17215574
申请日：2021-03-29
Applicant: Waymo LLC
Inventor： Benjamin Charrow , Nathaniel Fairfield
CPC classification number: B60W60/0016 , B60W30/18154 , G08G1/166 , G08G1/167 , B60W2420/403 , B60W2420/52 , B60W2420/54 , B60W2552/53 , B60W2554/60 , B60W2554/80 , B60W2554/802 , B60W2556/40 , G05D2201/0213 , G06V20/588
Abstract: The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.
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公开(公告)号：US20220187834A1
公开(公告)日：2022-06-16
申请号：US17573048
申请日：2022-01-11
Applicant: Waymo LLC
Inventor： Guillaume Dupre , Benjamin Charrow
Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. In one instance, a default number of trajectories to be generated may be identified. A set of maneuvering options may be selected from a set of predetermined maneuvering options based on the number of trajectories. The set of maneuvering options may be filtered based on the default number of trajectories. A set of trajectories may be generated based on the filtered set of maneuvering option such that each trajectory of the set corresponds to a different maneuvering behavior. A cost for each trajectory of the set of trajectories may be determined, and one of the trajectories of the set of trajectories may be selected based on the determined costs. The vehicle may be maneuvered in the autonomous driving mode according to the selected one of the trajectories.
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公开(公告)号：US11256260B2
公开(公告)日：2022-02-22
申请号：US16152627
申请日：2018-10-05
Applicant: Waymo LLC
Inventor： Guillaume Dupre , Benjamin Charrow
Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. In one instance, a default number of trajectories to be generated may be identified. A set of maneuvering options may be selected from a set of predetermined maneuvering options based on the number of trajectories. The set of maneuvering options may be filtered based on the default number of trajectories. A set of trajectories may be generated based on the filtered set of maneuvering option such that each trajectory of the set corresponds to a different maneuvering behavior. A cost for each trajectory of the set of trajectories may be determined, and one of the trajectories of the set of trajectories may be selected based on the determined costs. The vehicle may be maneuvered in the autonomous driving mode according to the selected one of the trajectories.
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公开(公告)号：US11009875B2
公开(公告)日：2021-05-18
申请号：US15454271
申请日：2017-03-09
Applicant: Waymo LLC
Inventor： Benjamin Charrow , Nathaniel Fairfield
Abstract: The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.
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