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    Reporting road event data and sharing with other vehicles
    1.
    发明授权
    Reporting road event data and sharing with other vehicles 有权

    公开(公告)号：US12165515B2

    公开(公告)日：2024-12-10

    申请号：US18364808

    申请日：2023-08-03

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach ,  Andrew Hughes Chatham ,  Michael Steven Montemerlo

    IPC: G08G1/16 ,  B60W30/00 ,  G05D1/00 ,  G08G1/00 ,  G08G1/01 ,  G08G1/0967 ,  B60W50/00

    Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.

    Reporting Road Event Data and Sharing with Other Vehicles
    5.
    发明申请
    Reporting Road Event Data and Sharing with Other Vehicles 有权

    公开(公告)号：US20210158705A1

    公开(公告)日：2021-05-27

    申请号：US17167506

    申请日：2021-02-04

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach ,  Andrew Hughes Chatham ,  Michael Steven Montemerlo

    IPC: G08G1/16 ,  G08G1/00 ,  G08G1/0967 ,  G08G1/01 ,  B60W30/00 ,  G05D1/00 ,  G05D1/02

    Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.

    Reporting road event data and sharing with other vehicles
    6.
    发明授权
    Reporting road event data and sharing with other vehicles 有权

    公开(公告)号：US10916142B2

    公开(公告)日：2021-02-09

    申请号：US15919546

    申请日：2018-03-13

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach ,  Andrew Hughes Chatham ,  Michael Steven Montemerlo

    IPC: B60W30/00 ,  G08G1/16 ,  G08G1/00 ,  G08G1/0967 ,  G08G1/01 ,  G05D1/00 ,  G05D1/02 ,  B60W50/00

    Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.

    Building elevation maps from laser data
    7.
    发明授权
    Building elevation maps from laser data 有权

    公开(公告)号：US10185324B1

    公开(公告)日：2019-01-22

    申请号：US15631253

    申请日：2017-06-23

    Applicant: Waymo LLC

    Inventor： Christopher Paul Urmson ,  Andrew Hughes Chatham ,  Hendrik Dahlkamp ,  Michael Steven Montemerlo ,  Jiajun Zhu

    IPC: G01C21/00 ,  G05D1/02 ,  G01C21/32 ,  G09B29/12

    Abstract: Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.

    Reporting Road Event Data and Sharing with Other Vehicles
    8.
    发明申请
    Reporting Road Event Data and Sharing with Other Vehicles 审中-公开

    公开(公告)号：US20180204458A1

    公开(公告)日：2018-07-19

    申请号：US15919546

    申请日：2018-03-13

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach ,  Andrew Hughes Chatham ,  Michael Steven Montemerlo

    IPC: G08G1/16 ,  G08G1/00 ,  G05D1/02 ,  B60W30/00 ,  G05D1/00 ,  B60W50/00

    Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.

    USING PREDICTION MODELS FOR SCENE DIFFICULTY IN VEHICLE ROUTING
    9.
    发明申请
    USING PREDICTION MODELS FOR SCENE DIFFICULTY IN VEHICLE ROUTING 审中-公开

    公开(公告)号：US20200264003A1

    公开(公告)日：2020-08-20

    申请号：US16869682

    申请日：2020-05-08

    Applicant: Waymo LLC

    Inventor： Dietmar Ebner ,  Joshua Seth Herbach ,  Michael Steven Montemerlo

    IPC: G01C21/34 ,  G06N20/00

    Abstract: A route is selected for travel by an autonomous vehicle based on at least a level of difficulty of traversing the driving environment along that route. Vehicle signals, provided by one or more autonomous vehicles, indicating a difficulty associated with traveling a portion of a route are collected and used to predict a most favorable driving route for a given time. The signals may indicate a probability of disengaging from autonomous driving mode, a probability of being stuck for an unduly long time, traffic density, etc. A difficulty score may be computed for each road segment of a route, and then the scores of all of the road segments of the route are added together. The scores are based on number of previous disengagements, previous requests for remote assistance, unprotected left or right turns, whether parts of the driving area are occluded, etc. The difficulty score is used to compute a cost for a particular route, which may be compared to costs computed for other possible routes. Based on such information, a route may be selected.

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