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公开(公告)号：US11926332B1
公开(公告)日：2024-03-12
申请号：US17946973
申请日：2022-09-16
Applicant: Waymo LLC
Inventor： Johan Engstrom , Jared Russell
CPC classification number: B60W50/0098 , B60W30/18 , G05B13/048 , G05D1/0088 , G05D1/0212 , B60W2050/0014 , B60W2400/00 , G05D2201/0213
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a first probability distribution may be generated for the vehicle at a first future point in time using a generative model for predicting expected behaviors of objects and a set of characteristics for the vehicle at an initial time expected to be perceived by an observer. Planning system software of the vehicle may be used to generate a trajectory for the vehicle to follow. A second probability distribution may be generated for a second future point in time using the generative model based on the trajectory and a set of characteristics for the vehicle at the first future point expected to be perceived by the observer. A surprise assessment may be generated by comparing the first probability distribution to the second probability distribution. The vehicle may be controlled based on the surprise assessment.
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公开(公告)号：US11851086B2
公开(公告)日：2023-12-26
申请号：US16912976
申请日：2020-06-26
Applicant: Waymo LLC
Inventor： Brian Cohen , Guillaume Dupre , Jared Russell , Eric Schoenfeld
CPC classification number: B60W60/0011 , B60W60/0013 , G01C21/3407 , G01C21/3453 , G01C22/00 , G05D1/0088 , G05D2201/0213
Abstract: A simulation may be used to determine a difference between progress of a manually-driven vehicle and progress of a simulated autonomous vehicle. The method includes retrieving log data collected for the manually-driven vehicle driving along a route, generating a plurality of path segments for a portion of the route. The plurality of path segments corresponds to points in a lane that the manually-driven vehicle traveled through on the portion of the route. The method also includes running, using a software of the autonomous vehicle, a simulation of the autonomous vehicle driving along the plurality of path segments, extracting metrics from the log data and the simulation, and determining the difference between a first progress of the manually-driven vehicle and a second progress of the simulated autonomous vehicle based on the metrics.
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公开(公告)号：US20240416958A1
公开(公告)日：2024-12-19
申请号：US18815952
申请日：2024-08-27
Applicant: Waymo LLC
Inventor： Jared Russell , Jens-Steffen Gutmann , Ioan-Alexandru Sucan
Abstract: Aspects of the disclosure provide a method of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.
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Patent Agency Ranking
公开(公告)号：US11447142B1
公开(公告)日：2022-09-20
申请号：US16414176
申请日：2019-05-16
Applicant: WAYMO LLC
Inventor： Johan Engstrom , Jared Russell
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a first probability distribution may be generated for the vehicle at a first future point in time using a generative model for predicting expected behaviors of objects and a set of characteristics for the vehicle at an initial time expected to be perceived by an observer. Planning system software of the vehicle may be used to generate a trajectory for the vehicle to follow. A second probability distribution may be generated for a second future point in time using the generative model based on the trajectory and a set of characteristics for the vehicle at the first future point expected to be perceived by the observer. A surprise assessment may be generated by comparing the first probability distribution to the second probability distribution. The vehicle may be controlled based on the surprise assessment.
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公开(公告)号：US20220176987A1
公开(公告)日：2022-06-09
申请号：US17116422
申请日：2020-12-09
Applicant: Waymo LLC.
Inventor： Jared Russell , Jens-Steffen Gutmann , Ioan-Alexandru Sucan
Abstract: Aspects of the disclosure provide a of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.
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公开(公告)号：US20210403033A1
公开(公告)日：2021-12-30
申请号：US16912976
申请日：2020-06-26
Applicant: Waymo LLC
Inventor： Brian Cohen , Guillaume Dupre , Jared Russell , Eric Schoenfeld
Abstract: A simulation may be used to determine a difference between progress of a manually-driven vehicle and progress of a simulated autonomous vehicle. The method includes retrieving log data collected for the manually-driven vehicle driving along a route, generating a plurality of path segments for a portion of the route. The plurality of path segments corresponds to points in a lane that the manually-driven vehicle traveled through on the portion of the route. The method also includes running, using a software of the autonomous vehicle, a simulation of the autonomous vehicle driving along the plurality of path segments, extracting metrics from the log data and the simulation, and determining the difference between a first progress of the manually-driven vehicle and a second progress of the simulated autonomous vehicle based on the metrics.
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公开(公告)号：US12116007B2
公开(公告)日：2024-10-15
申请号：US17116422
申请日：2020-12-09
Applicant: Waymo LLC
Inventor： Jared Russell , Jens-Steffen Gutmann , Ioan-Alexandru Sucan
CPC classification number: B60W60/001 , B60W30/08 , G01C21/3602 , G06V20/582 , G06V20/584 , B60W2030/082 , B60W2420/408 , B60W2554/4049
Abstract: Aspects of the disclosure provide a method of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.
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8.发明公开公开(公告)号：US20240083458A1
公开(公告)日：2024-03-14
申请号：US18504670
申请日：2023-11-08
Applicant: Waymo LLC
Inventor： Brian Cohen , Guillaume Dupre , Jared Russell , Eric Schoenfeld
CPC classification number: B60W60/0011 , B60W60/0013 , G01C21/3407 , G01C21/3453 , G01C22/00 , G05D1/0088 , G05D2201/0213
Abstract: A simulation may be used to determine a difference between progress of a manually-driven vehicle and progress of a simulated autonomous vehicle. The method includes retrieving log data collected for the manually-driven vehicle driving along a route, generating a plurality of path segments for a portion of the route. The plurality of path segments corresponds to points in a lane that the manually-driven vehicle traveled through on the portion of the route. The method also includes running, using a software of the autonomous vehicle, a simulation of the autonomous vehicle driving along the plurality of path segments, extracting metrics from the log data and the simulation, and determining the difference between a first progress of the manually-driven vehicle and a second progress of the simulated autonomous vehicle based on the metrics.
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