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公开(公告)号：US10713148B2
公开(公告)日：2020-07-14
申请号：US16056865
申请日：2018-08-07
Applicant: Waymo LLC
Inventor： Carl Nygaard , Yiwen Xu , James Stout
IPC: G06F11/36
Abstract: The disclosure relate to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.
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公开(公告)号：US10896122B2
公开(公告)日：2021-01-19
申请号：US16879424
申请日：2020-05-20
Applicant: Waymo LLC
Inventor： Carl Nygaard , Yiwen Xu , James Stout
IPC: G06F11/36
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.
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公开(公告)号：US20200050536A1
公开(公告)日：2020-02-13
申请号：US16056865
申请日：2018-08-07
Applicant: Waymo LLC
Inventor： Carl Nygaard , Yiwen Xu , James Stout
IPC: G06F11/36
Abstract: The disclosure relate to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.
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公开(公告)号：US12030509B1
公开(公告)日：2024-07-09
申请号：US17104016
申请日：2020-11-25
Applicant: Waymo LLC
Inventor： Carl Nygaard , Zhenzhen Liu , Constantin Scholl
CPC classification number: B60W50/06 , B60W30/09 , B60W30/0956 , B60W30/18163 , B60W60/0015 , B60W60/0053 , G06F30/20 , B60W2520/10 , B60W2552/10 , B60W2552/53 , B60W2554/4026
Abstract: The technology relates to generating simulations in order to evaluate software used to control vehicles in an autonomous driving mode. In one example, an initial situation involving a certain kind of interaction between a vehicle operating in the autonomous driving mode and an object may be identified. A search of log data may be conducted in order to identify one or more similar situations based on characteristics of the initial situation. A new simulation may be generated using the identified one or more similar situations by inserting the object into the one or more similar situations. The new simulation may be run in order to evaluate the software.
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公开(公告)号：US11989116B1
公开(公告)日：2024-05-21
申请号：US17834389
申请日：2022-06-07
Applicant: Waymo LLC
Inventor： Carl Nygaard , Alexander Ruben Stacey McCarthy , James Stout
IPC: G06F11/36
CPC classification number: G06F11/3664 , G06F11/3684
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run. The simulation may be run using the software to control a simulated vehicle and at least one agent. During the running of the first simulation, whether a particular type of interaction between the simulated vehicle and the at least one agent has occurred may be determined. In response to this determination, a second simulation may be run using the log data by replacing the at least one agent with a model agent that simulates a road user capable of responding to actions performed by the simulated vehicle. The second simulation may be used to determine in order to determine whether the software is able to complete the second simulation without the particular type of interaction between a second simulated vehicle and the model agent occurring.
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Patent Agency Ranking
公开(公告)号：US11385991B1
公开(公告)日：2022-07-12
申请号：US17007611
申请日：2020-08-31
Applicant: Waymo LLC
Inventor： Carl Nygaard , Alexander Ruben Stacey McCarthy , James Stout
IPC: G06F11/36
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run. The simulation may be run using the software to control a simulated vehicle and at least one agent. During the running of the first simulation, whether a particular type of interaction between the simulated vehicle and the at least one agent has occurred may be determined. In response to this determination, a second simulation may be run using the log data by replacing the at least one agent with a model agent that simulates a road user capable of responding to actions performed by the simulated vehicle. The second simulation may be used to determine in order to determine whether the software is able to complete the second simulation without the particular type of interaction between a second simulated vehicle and the model agent occurring.
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公开(公告)号：US10943414B1
公开(公告)日：2021-03-09
申请号：US15797318
申请日：2017-10-30
Applicant: Waymo LLC
Inventor： Carl Nygaard , James Stout , Jiajun Zhu
Abstract: An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle's environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle's environment. The virtual object represents a real object that is not in the vehicle's environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.
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公开(公告)号：US10795804B1
公开(公告)日：2020-10-06
申请号：US16107023
申请日：2018-08-21
Applicant: Waymo LLC
Inventor： Carl Nygaard , Alexander Ruben Stacey McCarthy , James Stout
IPC: G06F11/36
Abstract: The disclosure relate to testing software for operating an autonomous vehicle. For instance, a first simulation may be run. The simulation may be run using the software to control a simulated vehicle and at least one agent. During the running of the first simulation, whether a particular type of interaction between the simulated vehicle and the at least one agent has occurred may be determined. In response to this determination, a second simulation may be run using the log data by replacing the at least one agent with a model agent that simulates a road user capable of responding to actions performed by the simulated vehicle. The second simulation may be used to determine in order to determine whether the software is able to complete the second simulation without the particular type of interaction between a second simulated vehicle and the model agent occurring.
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公开(公告)号：US09836895B1
公开(公告)日：2017-12-05
申请号：US14744891
申请日：2015-06-19
Applicant: Waymo LLC
Inventor： Carl Nygaard , James Stout , Jiajun Zhu
CPC classification number: G07C5/0841 , G06F17/5009
Abstract: An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle's environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle's environment. The virtual object represents a real object that is not in the vehicle's environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.
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公开(公告)号：US11983972B1
公开(公告)日：2024-05-14
申请号：US17159271
申请日：2021-01-27
Applicant: Waymo LLC
Inventor： Carl Nygaard , James Stout , Jiajun Zhu
CPC classification number: G07C5/0841 , G05D1/0088 , G06F30/20
Abstract: An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle's environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle's environment. The virtual object represents a real object that is not in the vehicle's environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.
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