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公开(公告)号：US20240248472A1
公开(公告)日：2024-07-25
申请号：US18623133
申请日：2024-04-01
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein
CPC classification number: G05D1/0214 , B60W60/00253 , B60W2554/406
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle to respond to queuing behaviors at pickup or drop-off locations. As an example, a request to pick up or drop off a passenger at a location may be received. The location may be determined to likely have a queue for picking up and dropping off passengers. Based on sensor data received from a perception system, whether a queue exists at the location may be determined. Once it is determined that a queue exists, it may be determined whether to join the queue to avoid inconveniencing other road users. Based on the determination to join the queue, the vehicle may be controlled to join the queue.
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公开(公告)号：US11971716B2
公开(公告)日：2024-04-30
申请号：US17567219
申请日：2022-01-03
Applicant: Waymo LLC
Inventor： Joshua Seth Herbach , Michael Epstein , Mishika Vora , Guillaume Dupre , Kevin Rawlings
CPC classification number: G05D1/0088 , G05D1/0274 , G06Q10/02 , G06Q10/047 , G06Q30/06 , G06Q50/30
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a first location corresponding to a location where the vehicle is to pick up or drop off a passenger is received. A first cost for the vehicle to reach the first location is determined. A second location based on the first location is identified, and a second cost is determined based on a cost for the vehicle to reach the second location and a cost for the passenger to reach the second location. The first cost is compared to the second cost, and a notification is sent based on the notification. In response to sending the notification, instructions to proceed to the second location are received, and in response to receiving the instructions, the vehicle is controlled in the autonomous driving mode to the second location to pick up or drop off the passenger.
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公开(公告)号：US20230396970A1
公开(公告)日：2023-12-07
申请号：US18207471
申请日：2023-06-08
Applicant: Waymo LLC
Inventor： Philip Nemec , Renaud-Roland Hubert , Joshua Seth Herbach , Min Li Chan , Michael Epstein , Salil Pandit , John Wesley Dyer , Juliet Rothenberg
CPC classification number: H04W4/40 , G06Q50/30 , G05D1/0088 , B60W30/181 , G06Q10/04 , G06Q10/047 , G05D2201/0212 , H04W12/06
Abstract: The technology relates to actively looking for an assigned passenger prior to a vehicle 100 reaching a pickup location. For instance, information identifying the pickup location and client device information for authenticating the assigned passenger is received. Sensor data is received from a perception system of the vehicle identifying objects in an environment of the vehicle. When the vehicle is within a predetermined distance from the pickup location, authenticating a client device using the client device information is attempted. When the client device has been authenticated, the sensor data is used to determine whether a pedestrian is within a first threshold distance of the vehicle. When a pedestrian is determined to be within the first threshold distance of the vehicle, the vehicle is stopped prior to reaching the pickup location, to wait for the pedestrian within the first threshold distance of the vehicle to enter the vehicle.
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公开(公告)号：US11657318B2
公开(公告)日：2023-05-23
申请号：US16214991
申请日：2018-12-10
Applicant: Waymo LLC
Inventor： Ioan-Alexandru Sucan , Fang Da , Poonam Suryanarayan , Nathaniel Fairfield , Yutaka Leon Suematsu , Omer Baror , Jian Leong , Michael Epstein
CPC classification number: G06N20/00 , B60W50/0098 , G05D1/0276 , G05D2201/0213
Abstract: The disclosure relates to training models for identification of events likely to cause discomfort to passengers of autonomous vehicles and for assessment of overall ride quality of autonomous vehicle rides. For instance, ride data may be associated with a ride quality value indicative of a level of discomfort and/or a first overall ride quality value indicating an overall ride quality provided by the passenger for the first ride. This ride data may be used to train a model such that the model is configured to, in response to receiving ride data for a second ride as input, output a list of events likely to cause discomfort to a passenger during the second ride and/or such that the model is configured to, in response to receiving second ride data for a second ride as input, output a second overall ride quality value for the second ride.
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公开(公告)号：US20230152812A1
公开(公告)日：2023-05-18
申请号：US18074737
申请日：2022-12-05
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein
CPC classification number: G05D1/0214 , B60W60/00253 , G05D2201/0212 , B60W2554/406
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle to respond to queuing behaviors at pickup or drop-off locations. As an example, a request to pick up or drop off a passenger at a location may be received. The location may be determined to likely have a queue for picking up and dropping off passengers. Based on sensor data received from a perception system, whether a queue exists at the location may be determined. Once it is determined that a queue exists, it may be determined whether to join the queue to avoid inconveniencing other road users. Based on the determination to join the queue, the vehicle may be controlled to join the queue.
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Patent Agency Ranking
公开(公告)号：US11475119B2
公开(公告)日：2022-10-18
申请号：US17100029
申请日：2020-11-20
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Luis Torres , Michael Epstein , Yu-Hsin Chen
IPC: G06F21/44 , G06F21/35 , H04L9/32 , H04L67/12 , B60R21/015 , G08B13/196 , G06Q10/04 , G06V20/56 , G06V40/10 , G06V40/18 , G06V40/16
Abstract: Aspects of the disclosure provide systems and methods for recognizing an assigned passenger. For instance, dispatching instructions to pick up a passenger at a pickup location are received. The instructions include authentication information for authenticating a client computing device associated with the passenger. A vehicle is maneuvered in an autonomous driving mode towards the pickup location. The client device is then authenticated. After authentication, a set of pedestrians within a predetermined distance of the vehicle are identified from sensor information generated by a sensor of the vehicle and location information is received over a period of time from the client device. The received location information is used to estimate a velocity of the passenger. This estimated velocity is used to identify a subset of set of pedestrians that is likely to be the passenger. The vehicle is stopped to allow the passenger to enter the vehicle based on the subset.
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公开(公告)号：US20210374623A1
公开(公告)日：2021-12-02
申请号：US17368007
申请日：2021-07-06
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Luis Torres , Yu-Hsin Chen , Michael Epstein
Abstract: Aspects of the disclosure provide systems and methods for confirming the identity of a passenger and changing destination of a vehicle. This may include receiving dispatching instructions to pick up a first passenger at a pickup location and to drop off the first passenger at a first destination as well as authentication information for authenticating a first client computing device of the first passenger. Once the client device is authenticated and a second passenger enters the vehicle, the vehicle is maneuvered towards the first destination. While doing so, a location of the vehicle is compared to location information received from the client computing devices. A notification is sent to a dispatching server based on the comparison and a second destination location is received in response. The vehicle is then maneuvered towards the second destination instead of the first destination.
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公开(公告)号：US11048256B2
公开(公告)日：2021-06-29
申请号：US16536560
申请日：2019-08-09
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Konstantin Pervyshev , Jonathan Lee Pedersen , Salil Pandit
Abstract: Aspects of the disclosure relate to parking behaviors and maneuvering a vehicle in an autonomous driving mode accordingly. For instance, a pullover location for the vehicle to stop and wait for a passenger may be identified. The vehicle may be maneuvered in the autonomous driving mode in order to pull over by pulling forward into the pullover location. Whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle may be determined based on context for the pull over with respect to the passenger. The vehicle may be maneuvered in the autonomous driving mode in reverse based on the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle.
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公开(公告)号：US10854085B2
公开(公告)日：2020-12-01
申请号：US16702937
申请日：2019-12-04
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Philip Nemec , Joshua Newby , Michael Epstein
Abstract: The disclosure relates to smart signs or physical markers for facilitating passenger trips for autonomous vehicles. For instance, a physical marker remote from the autonomous vehicles may receive a first notification indicating a request for a trip has been made via a client computing device. The physical marker may determine when the client computing device has reached a physical marker, and in response to the determination, the physical marker may send a second notification to a dispatching server computing device indicating that the client computing device has reached a physical marker. Other aspects of the disclosure relate to various features and uses for the physical marker.
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公开(公告)号：US10579788B2
公开(公告)日：2020-03-03
申请号：US15679485
申请日：2017-08-17
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Luis Torres , Michael Epstein , Yu-Hsin Chen
IPC: G06F21/44 , H04L29/08 , B60R21/015 , G08B13/196 , G06K9/00
Abstract: Aspects of the disclosure provide systems and methods for recognizing an assigned passenger. For instance, dispatching instructions to pick up a passenger at a pickup location are received. The instructions include authentication information for authenticating a client computing device associated with the passenger. A vehicle is maneuvered in an autonomous driving mode towards the pickup location. The client device is then authenticated. After authentication, a set of pedestrians within a predetermined distance of the vehicle are identified from sensor information generated by a sensor of the vehicle and location information is received over a period of time from the client device. The received location information is used to estimate a velocity of the passenger. This estimated velocity is used to identify a subset of set of pedestrians that is likely to be the passenger. The vehicle is stopped to allow the passenger to enter the vehicle based on the subset.
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