公开(公告)号：US20210293573A1

公开(公告)日：2021-09-23

申请号：US17207663

申请日：2021-03-20

Applicant: Waymo LLC

Inventor： Boris Sofman ,  Benjamin Pitzer ,  Michael James

IPC: G01C21/36 ,  G01C21/34

Abstract: An example method involves identifying one or more potential route segments that collectively connect at least two geographical points, receiving spatiotemporal weather information that predicts future weather conditions along each of the potential segments, and, for each potential segment, evaluating a partial cost function that comprises a summation of a set of segment-weighted cost factors, where at least one segment-weighted cost factor comprises an adverse weather risk factor based on the future weather conditions along the potential segment. The method also involves selecting, based on a minimization of a total cost function, a set of selected segments and corresponding segment target speeds for the vehicle to utilize while traversing between the at least two geographical points so as to avoid adverse weather conditions, the total cost function being the sum of partial cost functions associated with a set of segments that collectively connect the at least two geographical points.

公开(公告)号：US12072203B2

公开(公告)日：2024-08-27

申请号：US17207663

申请日：2021-03-20

Applicant: Waymo LLC

Inventor： Boris Sofman ,  Benjamin Pitzer ,  Michael James

IPC: G01C21/36 ,  G01C21/34 ,  G05D1/00 ,  G08G1/00

CPC classification number: G01C21/3697 ,  G01C21/3461 ,  G01C21/3469 ,  G01C21/3492 ,  G05D1/0287 ,  G08G1/22

Abstract: An example method involves identifying one or more potential route segments that collectively connect at least two geographical points, receiving spatiotemporal weather information that predicts future weather conditions along each of the potential segments, and, for each potential segment, evaluating a partial cost function that comprises a summation of a set of segment-weighted cost factors, where at least one segment-weighted cost factor comprises an adverse weather risk factor based on the future weather conditions along the potential segment. The method also involves selecting, based on a minimization of a total cost function, a set of selected segments and corresponding segment target speeds for the vehicle to utilize while traversing between the at least two geographical points so as to avoid adverse weather conditions, the total cost function being the sum of partial cost functions associated with a set of segments that collectively connect the at least two geographical points.