公开(公告)号：US20220413510A1

公开(公告)日：2022-12-29

申请号：US17357018

申请日：2021-06-24

Applicant: Waymo LLC

Inventor： Xiaoyue Zhao ,  Henning Hohnhold ,  Xiang Gao ,  Ajay Joshi ,  Vishay Nihalani ,  Katharine Patterson ,  Joseph Lee

IPC: G05D1/02 ,  G05D1/00

Abstract: Aspects of the disclosure provide a method of providing a destination to an autonomous vehicle in order to enable the autonomous vehicle to collect data according to a targeted driving goal. For instance, a current location of an autonomous vehicle may be received. A set of destinations may be selected from a plurality of predetermined destinations. A route may be determined for each destination. A relevance score may be determined for each destination based on the determined routes and the targeted driving goal. Each destination may be assigned to one of a set of two or more buckets based on the relevance scores. A destination of the set may be selected based on a predetermined sampling probability. The selected destination is sent to the autonomous vehicle in order to cause the autonomous vehicle to travel to the selected destination in an autonomous driving mode.

公开(公告)号：US11685408B1

公开(公告)日：2023-06-27

申请号：US17347685

申请日：2021-06-15

Applicant: Waymo LLC

Inventor： Xiaoyue Zhao ,  Henning Hohnhold ,  Yin-Hsiu Chen ,  Xiang Gao ,  Ajay Joshi ,  Kevin Cao

IPC: G07C5/02 ,  B60W60/00 ,  G01C21/00

CPC classification number: B60W60/005 ,  G01C21/3841 ,  G07C5/02 ,  B60W2556/40 ,  B60W2556/45

Abstract: Aspects of the disclosure provide for the generation of a driving difficulty heat map for autonomous vehicles. For instance, log data generated by a vehicle being driven in a manual driving mode for a segment of a route may be input into a disengage model in order to generate an output identifying a likelihood of a vehicle driving in an autonomous driving mode requiring a disengage from the autonomous driving mode along the segment of the route. The log data may have been collected within a geographic area. A grid for the geographic area may be generated. The grid may include a plurality of cells. The output is assigned to one of the plurality of cells. The plurality of cells and assigned output may be used to generate a driving difficulty heat map for the geographic area.

公开(公告)号：US12145628B1

公开(公告)日：2024-11-19

申请号：US18195094

申请日：2023-05-09

Applicant: WAYMO LLC

Inventor： Xiaoyue Zhao ,  Henning Hohnhold ,  Yin-Hsiu Chen ,  Xiang Gao ,  Ajay Joshi ,  Kevin Cao

IPC: G01C5/02 ,  B60W60/00 ,  G01C21/00 ,  G07C5/02

Abstract: Aspects of the disclosure provide for the generation of a driving difficulty heat map for autonomous vehicles. For instance, log data generated by a vehicle being driven in a manual driving mode for a segment of a route may be input into a disengage model in order to generate an output identifying a likelihood of a vehicle driving in an autonomous driving mode requiring a disengage from the autonomous driving mode along the segment of the route. The log data may have been collected within a geographic area. A grid for the geographic area may be generated. The grid may include a plurality of cells. The output is assigned to one of the plurality of cells. The plurality of cells and assigned output may be used to generate a driving difficulty heat map for the geographic area.