公开(公告)号：US10671079B2

公开(公告)日：2020-06-02

申请号：US15791623

申请日：2017-10-24

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Mark Paskin

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.

公开(公告)号：US20190121362A1

公开(公告)日：2019-04-25

申请号：US15791623

申请日：2017-10-24

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Mark Paskin

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.

公开(公告)号：US11934193B2

公开(公告)日：2024-03-19

申请号：US16855337

申请日：2020-04-22

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Mark Paskin

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16

CPC classification number: G05D1/0223 ,  G05D1/0088 ,  G05D1/0214 ,  G08G1/166 ,  G08G1/167 ,  B60W2520/10 ,  B60W2554/00 ,  B60W2720/10 ,  G05D2201/0213

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.

公开(公告)号：US20200249687A1

公开(公告)日：2020-08-06

申请号：US16855337

申请日：2020-04-22

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Mark Paskin

IPC: G05D1/02 ,  G08G1/16 ,  G05D1/00

Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.