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公开(公告)号：US11608066B1
公开(公告)日：2023-03-21
申请号：US16877531
申请日：2020-05-19
Applicant: Waymo LLC
Inventor： Nolan McPeek-Bechtold , Kimberly Toth
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode where vehicle has a drive by wire braking system. For instance, while the vehicle is being controlled in the autonomous driving mode, a signal corresponding to input at a brake pedal of the drive by wire braking system may be received. An amount of braking may be determined based on the received signal. The amount of braking may be used to determine a trajectory for the vehicle to follow. The vehicle may be controlled in the autonomous driving mode using the trajectory.
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公开(公告)号：US20220063678A1
公开(公告)日：2022-03-03
申请号：US17004790
申请日：2020-08-27
Applicant: WAYMO LLC
Inventor： Nolan McPeek-Bechtold , Daniel Egnor , Leonid Vaynberg , Ryan Cash
Abstract: Aspects of the disclosure relate to controlling transitions between driving modes of an autonomous vehicle. The vehicle may have a first mode that is a manual driving mode, a second mode that is an autonomous driving mode where a driver is expected to be present to take control, and a third mode where a driver is not expected to be present to take control. While operating in the second mode, a request to transition to the first mode may be received. In response, the vehicle may transition to the first mode. After transitioning to the first driving mode, the vehicle may be prevented from transitioning the first mode to the second mode or the third mode until a predetermined duration has passed even when input is received at one or more of a steering wheel, brake pedal, or accelerator during the predetermined period.
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3.发明授权公开(公告)号：US11008011B2
公开(公告)日：2021-05-18
申请号：US16563017
申请日：2019-09-06
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Nolan McPeek-Bechtold
Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.
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公开(公告)号：US11634160B2
公开(公告)日：2023-04-25
申请号：US16993820
申请日：2020-08-14
Applicant: Waymo LLC
Inventor： Justin Zaydel , Nolan McPeek-Bechtold
Abstract: Aspects of the disclosure relate to a vehicle having an autonomous driving mode and a manual driving mode. The vehicle may include a steering system having one or more processors configured to control the orientation of the one or more wheels based on control commands. The vehicle may also include an autonomous driving control system configured to control the vehicle in an autonomous driving mode by generating the control commands and to send the control commands to the steering system. In addition, the steering system may thermally derate the steering system based on first temperature information for the steering system when the vehicle is operating in a manual drive mode, and the autonomous driving control system may thermally derate the steering system based on second temperature information for the steering system when the vehicle is operating in the autonomous driving mode.
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公开(公告)号：US20210362719A1
公开(公告)日：2021-11-25
申请号：US16924416
申请日：2020-07-09
Applicant: WAYMO LLC
Inventor： Nolan McPeek-Bechtold
IPC: B60W30/18 , G05D1/02 , B60W10/184 , B60L7/18 , B60L7/26
Abstract: Aspects of the disclosure provide for a method of controlling a vehicle in an autonomous driving mode. For instance, the method may include receiving, by one or more processors of a brake controller of the vehicle, a braking profile for a trajectory for the vehicle to follow into the future. The brake controller may determine whether to use one or both of regenerative and friction braking based on the braking profile. The vehicle is controlled according to the braking profile based on the determination of whether to use one or both of regenerative and friction braking.
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Patent Agency Ranking
公开(公告)号：US20210325896A1
公开(公告)日：2021-10-21
申请号：US17318159
申请日：2021-05-12
Applicant: Waymo LLC
Inventor： Daniel Trawick Egnor , Nolan McPeek-Bechtold , James Harris , Andrew Barton-Sweeney , Ruslan Kurdyumov , Spencer Alexander , Ryan Cash
IPC: G05D1/02 , B60W30/09 , B60T8/32 , G05D1/00 , B60W30/095
Abstract: A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.
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公开(公告)号：US11036234B2
公开(公告)日：2021-06-15
申请号：US16158718
申请日：2018-10-12
Applicant: Waymo LLC
Inventor： Daniel Trawick Egnor , Nolan McPeek-Bechtold , James Harris , Andrew Barton-Sweeney , Ruslan Kurdyumov , Spencer Alexander , Ryan Cash
IPC: G05D1/02 , B60W30/09 , B60T8/32 , G05D1/00 , B60W30/095
Abstract: A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.
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公开(公告)号：US20200114889A1
公开(公告)日：2020-04-16
申请号：US16156441
申请日：2018-10-10
Applicant: Waymo LLC
Inventor： Daniel Trawick Egnor , Nolan McPeek-Bechtold , James Harris , Andrew Barton-Sweeney , Ruslan Kurdyumov , Spencer Alexander
IPC: B60T8/94 , B60T7/12 , B60T8/32 , B60T8/1761 , B60T8/17
Abstract: The disclosure relates to controlling braking behaviors a vehicle in an autonomous driving mode in the event of a hydraulic system failure. For instance, the vehicle may be controlled in the autonomous driving mode according to a first braking control behavior based on a first relationship between position of a brake pedal of the vehicle and amount of deceleration for the vehicle. While controlling the vehicle, a failure of a hydraulic system may be determined. Based on the determination, the vehicle may be controlled in the autonomous driving mode according to a second braking control behavior by moving the brake pedal until the vehicle reaches a deceleration target defined by the second braking control behavior.
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9.发明授权公开(公告)号：US10569784B2
公开(公告)日：2020-02-25
申请号：US15718459
申请日：2017-09-28
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Nolan McPeek-Bechtold
Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.
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10.发明授权公开(公告)号：US12115989B1
公开(公告)日：2024-10-15
申请号：US18110650
申请日：2023-02-16
Applicant: Waymo LLC
Inventor： Nolan McPeek-Bechtold , Kimberly Toth
CPC classification number: B60W30/18109 , B60W10/18 , B60W60/0018 , B60W2554/4041 , B60W2554/60 , B60W2710/18
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode where vehicle has a drive by wire braking system. For instance, while the vehicle is being controlled in the autonomous driving mode, a signal corresponding to input at a brake pedal of the drive by wire braking system may be received. An amount of braking may be determined based on the received signal. The amount of braking may be used to determine a trajectory for the vehicle to follow. The vehicle may be controlled in the autonomous driving mode using the trajectory.
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