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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
申请人： WAYMO LLC
发明人： Shir Yehoshua , Benjamin Charrow
摘要： 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
申请人： Waymo LLC
CPC分类号： 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
摘要： 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
申请人： Waymo LLC
摘要： 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：US12124263B2
公开(公告)日：2024-10-22
申请号：US17573048
申请日：2022-01-11
申请人： Waymo LLC
发明人： Guillaume Dupre , Benjamin Charrow
CPC分类号： G05D1/0214 , B60W50/0098 , G01C21/3461 , G05D1/0088 , B60W2050/0052
摘要： 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：US20180259957A1
公开(公告)日：2018-09-13
申请号：US15454271
申请日：2017-03-09
申请人： Waymo LLC
CPC分类号： G05D1/0088 , B62D15/0265 , G01C21/26 , G05D1/021 , G06K9/00798 , G08G1/166 , G08G1/167
摘要： 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
申请人： Waymo LLC
CPC分类号： 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
摘要： 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
申请人： Waymo LLC
发明人： Guillaume Dupre , Benjamin Charrow
摘要： 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
申请人： Waymo LLC
发明人： Guillaume Dupre , Benjamin Charrow
摘要： 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
申请人： Waymo LLC
摘要： 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：US09868391B1
公开(公告)日：2018-01-16
申请号：US15054958
申请日：2016-02-26
申请人： Waymo LLC
CPC分类号： B60Q5/005
摘要： Aspects of the disclosure relate to providing audible indications to objects located externally to a vehicle having an autonomous driving mode. For instance, a vehicle is controlled in the autonomous driving mode along a particular path. Information identifying a characteristic and a location of an object is received. When vehicle is determined to be prevented from proceeding along the particular path because of the location of the object, a scenario is identified using the characteristic. The scenario is associated with a predetermined period of time and a type of audible indication used to identify an audible indication. After the waiting the predetermined period, when the object is determined to still be preventing the vehicle from proceeding along the particular path, the audible indication is played through a speaker of the vehicle to encourage the object to take an action to allow the vehicle to proceed along the particular path.
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