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公开(公告)号：US20230047336A1
公开(公告)日：2023-02-16
申请号：US17400286
申请日：2021-08-12
Applicant: Waymo LLC
Inventor： Jennifer Iglesias , Lucas Watson , Tian Yu Liu
IPC: B60W60/00 , B60W30/095 , B60W50/00 , B60W40/04
Abstract: Aspects of the disclosure provide for a method of controlling an autonomous vehicle in an autonomous driving mode. For instance, a predicted future trajectory for an object detected in a driving environment of the autonomous vehicle may be received. A routing intent for a planned trajectory for the autonomous vehicle may be received. The predicted future trajectory and the routing intent intersect with one another may be determined. When the predicted future trajectory and the routing intent are determined to intersect with one another, a time gap may be applied to a predicted future state of the object defined in the predicted future trajectory. A planned trajectory may be determined for the autonomous vehicle based on the applied time gap. The autonomous vehicle may be controlled in the autonomous driving mode based on the planned trajectory.
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公开(公告)号：US20220262133A1
公开(公告)日：2022-08-18
申请号：US17734375
申请日：2022-05-02
Applicant: Waymo LLC
Inventor： Jennifer Iglesias
Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, that the vehicle is approaching a crosswalk may be determined. A set of segments may be identified for the crosswalk. A set of potential occluded pedestrians may be generated. Each potential occluded pedestrian of the set is assigned a speed characteristic and a segment. The segments of the set of potential occluded pedestrians may be updated over time using the assigned speed characteristics. Sensor data from a perception system of the vehicle is received, and one or more potential occluded pedestrians an having an updated assigned segment corresponding to a segment that is visible to a perception system of the vehicle may be removed from the set of potential occluded pedestrians. After the removing, the set may be used to control the vehicle in the autonomous driving mode.
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公开(公告)号：US11767038B2
公开(公告)日：2023-09-26
申请号：US17734375
申请日：2022-05-02
Applicant: Waymo LLC
Inventor： Jennifer Iglesias
CPC classification number: B60W60/0027 , B60W30/146 , B60W50/0097 , G05D1/0088 , G05D1/0223 , G06V10/273 , G06V20/58 , G06V40/103 , B60W2554/00
Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, that the vehicle is approaching a crosswalk may be determined. A set of segments may be identified for the crosswalk. A set of potential occluded pedestrians may be generated. Each potential occluded pedestrian of the set is assigned a speed characteristic and a segment. The segments of the set of potential occluded pedestrians may be updated over time using the assigned speed characteristics. Sensor data from a perception system of the vehicle is received, and one or more potential occluded pedestrians an having an updated assigned segment corresponding to a segment that is visible to a perception system of the vehicle may be removed from the set of potential occluded pedestrians. After the removing, the set may be used to control the vehicle in the autonomous driving mode.
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公开(公告)号：US11354912B2
公开(公告)日：2022-06-07
申请号：US16552426
申请日：2019-08-27
Applicant: Waymo LLC
Inventor： Jennifer Iglesias
Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, that the vehicle is approaching a crosswalk may be determined. A set of segments may be identified for the crosswalk. A set of potential occluded pedestrians may be generated. Each potential occluded pedestrian of the set is assigned a speed characteristic and a segment. The segments of the set of potential occluded pedestrians may be updated over time using the assigned speed characteristics. Sensor data from a perception system of the vehicle is received, and one or more potential occluded pedestrians an having an updated assigned segment corresponding to a segment that is visible to a perception system of the vehicle may be removed from the set of potential occluded pedestrians. After the removing, the set may be used to control the vehicle in the autonomous driving mode.
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公开(公告)号：US12116014B2
公开(公告)日：2024-10-15
申请号：US17388843
申请日：2021-07-29
Applicant: Waymo LLC
Inventor： Victor Puchkarev , Alexander Ruben Stacey McCarthy , Aleix Paris i Bordas , Jennifer Iglesias , Allison Thackston , Xinrui Wang
CPC classification number: B60W60/0027 , B60W50/0205 , B60W2552/05 , B60W2554/801 , B60W2555/20
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A first error value for a boundary of an object, a second error value for a location of the autonomous vehicle, a third error value for a predicted future location of the object may be received. An uncertainty value for the object may be determined by combining the first error value, the second error value, and the third error value. A lateral gap threshold for the object may be determined based on the uncertainty value. The autonomous vehicle may be controlled in an autonomous driving mode based on the lateral gap threshold for the object.
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Patent Agency Ranking
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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公开(公告)号：US20210064889A1
公开(公告)日：2021-03-04
申请号：US16552426
申请日：2019-08-27
Applicant: Waymo LLC
Inventor： Jennifer Iglesias
Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, that the vehicle is approaching a crosswalk may be determined. A set of segments may be identified for the crosswalk. A set of potential occluded pedestrians may be generated. Each potential occluded pedestrian of the set is assigned a speed characteristic and a segment. The segments of the set of potential occluded pedestrians may be updated over time using the assigned speed characteristics. Sensor data from a perception system of the vehicle is received, and one or more potential occluded pedestrians an having an updated assigned segment corresponding to a segment that is visible to a perception system of the vehicle may be removed from the set of potential occluded pedestrians. After the removing, the set may be used to control the vehicle in the autonomous driving mode.
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公开(公告)号：US20230391375A1
公开(公告)日：2023-12-07
申请号：US18234587
申请日：2023-08-16
Applicant: Waymo LLC
Inventor： Jennifer Iglesias
CPC classification number: B60W60/0027 , G05D1/0223 , B60W30/146 , G05D1/0088 , B60W2554/00 , G06V20/58 , G06V40/103 , G06V10/273 , B60W50/0097
Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, that the vehicle is approaching a crosswalk may be determined. A set of segments may be identified for the crosswalk. A set of potential occluded pedestrians may be generated. Each potential occluded pedestrian of the set is assigned a speed characteristic and a segment. The segments of the set of potential occluded pedestrians may be updated over time using the assigned speed characteristics. Sensor data from a perception system of the vehicle is received, and one or more potential occluded pedestrians an having an updated assigned segment corresponding to a segment that is visible to a perception system of the vehicle may be removed from the set of potential occluded pedestrians. After the removing, the set may be used to control the vehicle in the autonomous driving mode.
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公开(公告)号：US20230030104A1
公开(公告)日：2023-02-02
申请号：US17388843
申请日：2021-07-29
Applicant: Waymo LLC
Inventor： Victor Puchkarev , Alexander Ruben Stacey McCarthy , Aleix Paris i Bordas , Jennifer Iglesias , Allison Thackston , Xinrui Wang
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A first error value for a boundary of an object, a second error value for a location of the autonomous vehicle, a third error value for a predicted future location of the object may be received. An uncertainty value for the object may be determined by combining the first error value, the second error value, and the third error value. A lateral gap threshold for the object may be determined based on the uncertainty value. The autonomous vehicle may be controlled in an autonomous driving mode based on the lateral gap threshold for the object.
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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
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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