公开(公告)号：US11851092B1

公开(公告)日：2023-12-26

申请号：US17865535

申请日：2022-07-15

Applicant: WAYMO LLC

Inventor： Jennifer Iglesias ,  Diomidis Katzourakis ,  Kerrie Wu ,  Bruce Lin

IPC: B60W60/00 ,  B62D15/02 ,  B60W50/16 ,  B60W50/14

CPC classification number: B60W60/0053 ,  B60W50/16 ,  B60W60/001 ,  B62D15/021 ,  B60W2050/146

Abstract: The technology involves determining a minimum lateral gap distance between a vehicle configured for autonomous driving and one or more other objects in the vehicle's environment. The minimum lateral gap is used when determining whether to have a driver take over control of certain driving operations. This provides a measure of safety during disengagements or other change of control events. Determining the minimum lateral gap includes calculating a budgeted distance based on a cross-track error for a lateral position of the vehicle, an allowed actual gap distance to an object in the vehicle's environment, and a perception error associated with a location of the object in the vehicle's environment. This determination can be done for a set of possible operating speeds and steering rate limit combinations. The vehicle's control system may notify the driver to take control, for instance with audible, visual and/or haptic notifications.

公开(公告)号：US20230242158A1

公开(公告)日：2023-08-03

申请号：US17591130

申请日：2022-02-02

Applicant: Waymo LLC

Inventor： Diomidis Katzourakis ,  Bruce Lin ,  Victor Puchkarev ,  Carson Schultz ,  Karankumar Dhankani

IPC: B60W60/00 ,  B60W30/18

CPC classification number: B60W60/0027 ,  B60W60/0015 ,  B60W30/181 ,  B60W2554/80

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, data identifying an object may be received. A first portion of a trajectory may be generated using a first uncertainty distribution for the object. The first portion of the trajectory may enable the autonomous vehicle to make progress towards a destination of the autonomous vehicle. A fallback portion of the trajectory may be generated using a second uncertainty distribution for the object. The fallback portion may enable the autonomous vehicle to stop. The second uncertainty distribution may be different from the first uncertainty distribution, and the second uncertainty distribution may be based on a predetermined uncertainty distribution if the autonomous vehicle loses a localization improvement process. The autonomous vehicle may be controlled according to the trajectory.

公开(公告)号：US11427226B1

公开(公告)日：2022-08-30

申请号：US17122006

申请日：2020-12-15

Applicant: WAYMO LLC

Inventor： Jennifer Iglesias ,  Diomidis Katzourakis ,  Kerrie Wu ,  Bruce Lin

IPC: B60W60/00 ,  B62D15/02 ,  B60W50/16 ,  B60W50/14

Abstract: The technology involves determining a minimum lateral gap distance between a vehicle configured for autonomous driving and one or more other objects in the vehicle's environment. The minimum lateral gap is used when determining whether to have a driver take over control of certain driving operations. This provides a measure of safety during disengagements or other change of control events. Determining the minimum lateral gap includes calculating a budgeted distance based on a cross-track error for a lateral position of the vehicle, an allowed actual gap distance to an object in the vehicle's environment, and a perception error associated with a location of the object in the vehicle's environment. This determination can be done for a set of possible operating speeds and steering rate limit combinations. The vehicle's control system may notify the driver to take control, for instance with audible, visual and/or haptic notifications.