公开(公告)号：US20200377092A1

公开(公告)日：2020-12-03

申请号：US16427610

申请日：2019-05-31

Applicant: Waymo LLC

Inventor： Luis Torres ,  Brandon Luders

IPC: B60W30/18 ,  G05D1/00 ,  B60W50/00

Abstract: Aspects of the disclosure relate to methods for controlling a vehicle having an autonomous driving mode. For instance, sensor data may be received from one or more sensors of the perception system of the vehicle, the sensor data identifying characteristics of an object perceived by the perception system. That the object mt is no longer being perceived by the perception system may be determined. Based on the determination, predicted characteristics for the object may be generated based on one or more of the characteristics. The predicted characteristics of the object may be used to control the vehicle in the autonomous driving mode such that the vehicle is able to respond to the object when the object is no longer being perceived by the one or more sensors of the perception system.

公开(公告)号：US20240400110A1

公开(公告)日：2024-12-05

申请号：US18796855

申请日：2024-08-07

Applicant: Waymo LLC

Inventor： Luis Torres ,  Brandon Luders

IPC: B60W60/00 ,  B60W50/00

Abstract: Aspects of the disclosure relate to methods for controlling a vehicle having an autonomous driving mode. For instance, sensor data may be received from one or more sensors of the perception system of the vehicle, the sensor data identifying characteristics of an object perceived by the perception system. When it is determined that the object is no longer being perceived by the one or more sensors of the perception system, predicted characteristics for the object may be generated based on one or more of the identified characteristics. The predicted characteristics of the object may be used to control the vehicle in the autonomous driving mode such that the vehicle is able to respond to the object when it is determined that the object is no longer being perceived by the one or more sensors of the perception system.

公开(公告)号：US11046317B2

公开(公告)日：2021-06-29

申请号：US16427520

申请日：2019-05-31

Applicant: Waymo LLC

Inventor： Aishwarya Parasuram ,  Brandon Luders

IPC: B60W30/18 ,  B60W30/095 ,  G06K9/00

Abstract: Aspects of the disclosure relate to a method of controlling a vehicle having an autonomous driving mode at a multi-way stop intersection. For instance, that the vehicle has come to a stop at a multi-stop intersection may be determined. At least one road user at the intersection may be identified. Based on the determination that the vehicle has come to the stop, a period of time to wait for the at least one road user to proceed through the intersection may be determined. After waiting the determined period of time, that the at least one road user has not begun to proceed through the intersection may be determined. Based on the determination that the at least one user has not begun to proceed through the intersection, the vehicle may be controlled in the autonomous driving mode in order to proceed through the intersection.

公开(公告)号：US11643115B2

公开(公告)日：2023-05-09

申请号：US16427610

申请日：2019-05-31

Applicant: Waymo LLC

Inventor： Luis Torres ,  Brandon Luders

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/00272 ,  B60W50/0097 ,  B60W2400/00 ,  B60W2554/402 ,  B60W2556/10

Abstract: Aspects of the disclosure relate to methods for controlling a vehicle having an autonomous driving mode. For instance, sensor data may be received from one or more sensors of the perception system of the vehicle, the sensor data identifying characteristics of an object perceived by the perception system. When it is determined that the object is no longer being perceived by the one or more sensors of the perception system, predicted characteristics for the object may be generated based on one or more of the identified characteristics. The predicted characteristics of the object may be used to control the vehicle in the autonomous driving mode such that the vehicle is able to respond to the object when it is determined that the object is no longer being perceived by the one or more sensors of the perception system.

公开(公告)号：US20210339747A1

公开(公告)日：2021-11-04

申请号：US17330736

申请日：2021-05-26

Applicant: Waymo LLC

Inventor： Aishwarya Parasuram ,  Brandon Luders

IPC: B60W30/18 ,  B60W30/095 ,  G06K9/00

Abstract: Aspects of the disclosure relate to a method of controlling a vehicle having an autonomous driving mode at a multi-way stop intersection. For instance, that the vehicle has come to a stop at a multi-stop intersection may be determined. At least one road user at the intersection may be identified. Based on the determination that the vehicle has come to the stop, a period of time to wait for the at least one road user to proceed through the intersection may be determined. After waiting the determined period of time, that the at least one road user has not begun to proceed through the intersection may be determined. Based on the determination that the at least one user has not begun to proceed through the intersection, the vehicle may be controlled in the autonomous driving mode in order to proceed through the intersection.

公开(公告)号：US12091055B2

公开(公告)日：2024-09-17

申请号：US18123723

申请日：2023-03-20

Applicant: Waymo LLC

Inventor： Luis Torres ,  Brandon Luders

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/00272 ,  B60W50/0097 ,  B60W2400/00 ,  B60W2554/402 ,  B60W2556/10

Abstract: Aspects of the disclosure relate to methods for controlling a vehicle having an autonomous driving mode. For instance, sensor data may be received from one or more sensors of the perception system of the vehicle, the sensor data identifying characteristics of an object perceived by the perception system. When it is determined that the object is no longer being perceived by the one or more sensors of the perception system, predicted characteristics for the object may be generated based on one or more of the identified characteristics. The predicted characteristics of the object may be used to control the vehicle in the autonomous driving mode such that the vehicle is able to respond to the object when it is determined that the object is no longer being perceived by the one or more sensors of the perception system.

公开(公告)号：US11760354B2

公开(公告)日：2023-09-19

申请号：US17330736

申请日：2021-05-26

Applicant: Waymo LLC

Inventor： Aishwarya Parasuram ,  Brandon Luders

IPC: B60W30/18 ,  B60W30/095 ,  G06K9/00 ,  G06V20/58

CPC classification number: B60W30/18154 ,  B60W30/0956 ,  G06V20/584 ,  B60W2554/4041 ,  B60W2554/804

Abstract: Aspects of the disclosure relate to a method of controlling a vehicle having an autonomous driving mode at a multi-way stop intersection. For instance, that the vehicle has come to a stop at a multi-stop intersection may be determined. At least one road user at the intersection may be identified. Based on the determination that the vehicle has come to the stop, a period of time to wait for the at least one road user to proceed through the intersection may be determined. After waiting the determined period of time, that the at least one road user has not begun to proceed through the intersection may be determined. Based on the determination that the at least one user has not begun to proceed through the intersection, the vehicle may be controlled in the autonomous driving mode in order to proceed through the intersection.

公开(公告)号：US20230227074A1

公开(公告)日：2023-07-20

申请号：US18123723

申请日：2023-03-20

Applicant: Waymo LLC

Inventor： Luis Torres ,  Brandon Luders

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/00272 ,  B60W50/0097 ,  B60W2400/00 ,  B60W2554/402 ,  B60W2556/10

Abstract: Aspects of the disclosure relate to methods for controlling a vehicle having an autonomous driving mode. For instance, sensor data may be received from one or more sensors of the perception system of the vehicle, the sensor data identifying characteristics of an object perceived by the perception system. When it is determined that the object is no longer being perceived by the one or more sensors of the perception system, predicted characteristics for the object may be generated based on one or more of the identified characteristics. The predicted characteristics of the object may be used to control the vehicle in the autonomous driving mode such that the vehicle is able to respond to the object when it is determined that the object is no longer being perceived by the one or more sensors of the perception system.

公开(公告)号：US20200377101A1

公开(公告)日：2020-12-03

申请号：US16427520

申请日：2019-05-31

Applicant: Waymo LLC

Inventor： Aishwarya Parasuram ,  Brandon Luders

IPC: B60W30/18 ,  B60W30/095 ,  G06K9/00

Abstract: Aspects of the disclosure relate to a method of controlling a vehicle having an autonomous driving mode at a multi-way stop intersection. For instance, that the vehicle has come to a stop at a multi-stop intersection may be determined. At least one road user at the intersection may be identified. Based on the determination that the vehicle has come to the stop, a period of time to wait for the at least one road user to proceed through the intersection may be determined. After waiting the determined period of time, that the at least one road user has not begun to proceed through the intersection may be determined. Based on the determination that the at least one user has not begun to proceed through the intersection, the vehicle may be controlled in the autonomous driving mode in order to proceed through the intersection.