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公开(公告)号：US20250091614A1
公开(公告)日：2025-03-20
申请号：US18969041
申请日：2024-12-04
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: B60W60/00
Abstract: A method includes determining a maximum first parameter value and a maximum second parameter value corresponding to an autonomous vehicle (AV) for traveling a route. The method further includes determining, based on a first load value at a first distal end of a first axle of the AV and a second load value at a second distal end of the first axle, an updated first parameter value and an updated second parameter value corresponding to the AV for traveling the route. The method further includes causing the AV to travel the route based on the updated first parameter value and the updated second parameter value.
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公开(公告)号：US12139215B1
公开(公告)日：2024-11-12
申请号：US17573128
申请日：2022-01-11
Applicant: Waymo LLC
Inventor： Justin Zaydel , Diomidis Katzourakis
IPC: B62D5/04
Abstract: Aspects of the technology involve controlling a vehicle configured to operate in an autonomous driving mode. This includes receiving a set of environmental inputs including temperature information from different temperature sources, receiving initial steering information from a steering system of the vehicle, and obtaining an initial rack position command by a motion control module of the vehicle. The system determines, based on the environmental inputs, the initial steering information and an initial rack position, a likelihood that a steering actuator of the steering system of the vehicle is blocked or likely to become blocked. The system determines whether a threshold excitation amount has been applied to the steering system within a selected amount of time or a selected driving distance. When the threshold amount of excitation is not met, an excitation profile is applied to the steering system in order to modify the initial rack position.
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公开(公告)号：US12181873B2
公开(公告)日：2024-12-31
申请号：US17364277
申请日：2021-06-30
Applicant: Waymo LLC
Inventor： Joshua P Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: G05D1/00
Abstract: A method includes identifying sensor data associated with corresponding distal ends of one or more axles of an autonomous vehicle (AV). The method further includes determining, based on the sensor data, mass distribution data of the AV. The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes causing, based on the mass distribution data, performance of a corrective action associated with the AV.
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公开(公告)号：US20230004158A1
公开(公告)日：2023-01-05
申请号：US17364277
申请日：2021-06-30
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
Abstract: A method includes identifying sensor data associated with corresponding distal ends of one or more axles of an autonomous vehicle (AV). The method further includes determining, based on the sensor data, mass distribution data of the AV. The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes causing, based on the mass distribution data, performance of a corrective action associated with the AV.
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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
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.
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Patent Agency Ranking
6.发明公开公开(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
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.
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公开(公告)号：US20230001955A1
公开(公告)日：2023-01-05
申请号：US17364289
申请日：2021-06-30
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: B60W60/00
Abstract: A method includes identifying mass distribution data of an autonomous vehicle (AV). The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes determining, based on the mass distribution data, one or more handling maneuver limits for the AV. The method further includes causing the AV to travel a route based on the one or more handling maneuver limits.
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公开(公告)号：US20220204017A1
公开(公告)日：2022-06-30
申请号：US17135259
申请日：2020-12-28
Applicant: WAYMO LLC
Inventor： Andrew Barton-Sweeney , Rami Hindiyeh , Peter Greene , Vadim Butakov , Diomidis Katzourakis
Abstract: The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.
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公开(公告)号：US20250093872A1
公开(公告)日：2025-03-20
申请号：US18969022
申请日：2024-12-04
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: G05D1/00
Abstract: A method includes identifying suspension stiffness data and suspension deflection data associated with corresponding distal ends of one or more axles of an autonomous vehicle (AV). The method further includes determining, based on the suspension deflection data and the suspension stiffness data, driving constraint data for traveling at least a portion of a route. The method further includes causing, based on the driving constraint data, performance of a corrective action associated with the AV during the traveling of the at least a portion of a route.
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公开(公告)号：US20230077259A1
公开(公告)日：2023-03-09
申请号：US17408734
申请日：2021-08-23
Applicant: WAYMO LLC
Inventor： Diomidis Katzourakis , Justin Zaydel
Abstract: The technology employs a model structure for motion control in a vehicle configured to operate in an autonomous driving mode. The model structure has components including a vehicle dynamics system module, a column dynamics module, a rack dynamics module, and an actuation control module. A virtual validation and verification model is configurable based on the components of the model structure. Configuration is performed according to a set of operational requirements based on at least one of a vehicle type, occupant loading information, a center of gravity, or tire pressure as per a cold nominal setpoint. The virtual validation and verification model can be executed so that an electric power steering (EPS) module of the model structure components is configured for at least one of: a software-in-loop model, functional EPS assist, angle control, or to emulate an EPS controller.
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