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公开(公告)号：US20250042407A1
公开(公告)日：2025-02-06
申请号：US18923014
申请日：2024-10-22
Applicant: Waymo LLC
Inventor： Pablo Abad , Karan Rajen Parikh , Kang Li , David Garber , Tony Grue , Khawaja Waqee Khalid
Abstract: Example embodiments relate to lane adjustment techniques for slow lead agents. A vehicle computing system may use sensor data depicting the surrounding environment to detect when another vehicle is traveling in front of the vehicle at a speed that is less than a threshold minimum speed. If the other vehicle fails to increase speed above the minimum speed, the computing system may determine whether to change lanes to avoid the other vehicle based on speed data for other lanes. In some implementations, the computing system assigns penalties to lane segments surrounding the vehicle based on speed data for the different lane segments. For instance, the path finding system for the vehicle can use penalties and speed data to determine efficient routes that safely circumvent slow agents.
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公开(公告)号：US12162492B2
公开(公告)日：2024-12-10
申请号：US17812317
申请日：2022-07-13
Applicant: Waymo LLC
Inventor： Pablo Abad , Karen Rajen Parikh , Kang Li , David Garber , Tony Grue , Khawaja Waqee Khalid
Abstract: Example embodiments relate to lane adjustment techniques for slow lead agents. A vehicle computing system may use sensor data depicting the surrounding environment to detect when another vehicle is traveling in front of the vehicle at a speed that is less than a threshold minimum speed. If the other vehicle fails to increase speed above the minimum speed, the computing system may determine whether to change lanes to avoid the other vehicle based on speed data for other lanes. In some implementations, the computing system assigns penalties to lane segments surrounding the vehicle based on speed data for the different lane segments. For instance, the path finding system for the vehicle can use penalties and speed data to determine efficient routes that safely circumvent slow agents.
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公开(公告)号：US11987237B2
公开(公告)日：2024-05-21
申请号：US17645231
申请日：2021-12-20
Applicant: Waymo LLC
Inventor： Pablo Abad , Karan Rajen Parikh , Ross Anderson , Khawaja Waqee Khalid
CPC classification number: B60W30/09 , B60W30/18163 , B60W60/001 , B60W60/0053 , G05B13/0265 , B60W2520/06 , B60W2520/10 , B60W2520/105 , B60W2530/201 , B60W2552/05 , B60W2552/10 , B60W2552/15 , B60W2552/20 , B60W2554/20 , B60W2554/4041 , B60W2554/4042 , B60W2555/20
Abstract: A computer-implemented method is provided that involves determining, based on map data, an approaching merge region comprising an on-ramp merging with a road comprising one or more lanes, wherein a truck is traveling on an initial lane of the road according to a navigation plan. The method involves an indication of movement of a vehicle on the on-ramp, wherein the indication of movement is based on data collected by one or more sensors configured to capture sensor data from an environment surrounding the truck. The method involves determining, for the on-ramp and the one or more lanes, respective avoidance scores indicative of a likelihood of an interaction between the truck and the vehicle based on the approaching merge region. The method involves updating the navigation plan based on the respective avoidance scores. The method also involves controlling the truck to execute a driving strategy based on the updated navigation plan.
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Patent Agency Ranking
公开(公告)号：US20230202530A1
公开(公告)日：2023-06-29
申请号：US17565232
申请日：2021-12-29
Applicant: Waymo LLC
Inventor： Pablo Abad , Aman Ved Kalia , Juan Gomez-Ramos , Jiayi Chen , Jasman Singh Malik , Joe Riggs
CPC classification number: B60W60/0027 , B60W50/0098 , G05B13/0265 , B60W2050/0031 , B60W2520/10 , B60W2520/12 , B60W2554/801 , B60W2554/802 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2710/18 , B60W2720/10 , B60W2720/12
Abstract: Example embodiments relate to a method for cut-in identification and classification. An example embodiment includes a obtaining operational data about one or more vehicles; based on the operational data, identifying the presence of one or more cut-ins within the operational data; extracting, from the operational data, cut-in data that depicts one or more of the cut-ins identified within the operational data; and, based on the extracted cut-in data, training a model for controlling an autonomous vehicle. Identifying the presence of a given cut-in includes: determining that at least one vertex of a bounding box surrounding a vehicle was located more than a threshold distance within a lane being navigated by a given vehicle; and determining that the ability of the given vehicle to maintain its course and speed was impeded by the presence of the particular additional vehicle within the lane.
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公开(公告)号：US20240262393A1
公开(公告)日：2024-08-08
申请号：US18639421
申请日：2024-04-18
Applicant: Waymo LLC
Inventor： Pablo Abad , Aman Ved Kalia , Juan Gomez-Ramos , Jiayi Chen , Jasman Singh Malik , Joe Riggs
CPC classification number: B60W60/0027 , B60W50/0098 , G05B13/0265 , B60W2050/0031 , B60W2520/10 , B60W2520/12 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2554/801 , B60W2554/802 , B60W2710/18 , B60W2720/10 , B60W2720/12
Abstract: Example embodiments relate to a method for cut-in identification and classification. An example embodiment includes a obtaining operational data about one or more vehicles; based on the operational data, identifying the presence of one or more cut-ins within the operational data; extracting, from the operational data, cut-in data that depicts one or more of the cut-ins identified within the operational data; and, based on the extracted cut-in data, training a model for controlling an autonomous vehicle. Identifying the presence of a given cut-in includes: determining that at least one vertex of a bounding box surrounding a vehicle was located more than a threshold distance within a lane being navigated by a given vehicle; and determining that the ability of the given vehicle to maintain its course and speed was impeded by the presence of the particular additional vehicle within the lane.
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公开(公告)号：US20240017726A1
公开(公告)日：2024-01-18
申请号：US17812317
申请日：2022-07-13
Applicant: Waymo LLC
Inventor： Pablo Abad , Karen Rajen Parikh , Kang Li , David Garber , Tony Grue , Khawaja Waqee Khalid
CPC classification number: B60W30/18163 , B60W30/16 , B60W40/04 , B60W60/0011 , B60W60/0015 , G06V20/582 , B60W2300/145 , B60W2420/42 , B60W2530/205 , B60W2554/4041 , B60W2554/406 , B60W2554/80 , B60W2555/60
Abstract: Example embodiments relate to lane adjustment techniques for slow lead agents. A vehicle computing system may use sensor data depicting the surrounding environment to detect when another vehicle is traveling in front of the vehicle at a speed that is less than a threshold minimum speed. If the other vehicle fails to increase speed above the minimum speed, the computing system may determine whether to change lanes to avoid the other vehicle based on speed data for other lanes. In some implementations, the computing system assigns penalties to lane segments surrounding the vehicle based on speed data for the different lane segments. For instance, the path finding system for the vehicle can use penalties and speed data to determine efficient routes that safely circumvent slow agents.
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公开(公告)号：US11993288B2
公开(公告)日：2024-05-28
申请号：US17565232
申请日：2021-12-29
Applicant: Waymo LLC
Inventor： Pablo Abad , Aman Ved Kalia , Juan Gomez-Ramos , Jiayi Chen , Jasman Singh Malik , Joe Riggs
CPC classification number: B60W60/0027 , B60W50/0098 , G05B13/0265 , B60W2050/0031 , B60W2520/10 , B60W2520/12 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2554/801 , B60W2554/802 , B60W2710/18 , B60W2720/10 , B60W2720/12
Abstract: Example embodiments relate to a method for cut-in identification and classification. An example embodiment includes a obtaining operational data about one or more vehicles; based on the operational data, identifying the presence of one or more cut-ins within the operational data; extracting, from the operational data, cut-in data that depicts one or more of the cut-ins identified within the operational data; and, based on the extracted cut-in data, training a model for controlling an autonomous vehicle. Identifying the presence of a given cut-in includes: determining that at least one vertex of a bounding box surrounding a vehicle was located more than a threshold distance within a lane being navigated by a given vehicle; and determining that the ability of the given vehicle to maintain its course and speed was impeded by the presence of the particular additional vehicle within the lane.
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公开(公告)号：US20230192074A1
公开(公告)日：2023-06-22
申请号：US17645231
申请日：2021-12-20
Applicant: Waymo LLC
Inventor： Pablo Abad , Karan Rajen Parikh , Ross Anderson , Khawaja Waqee Khalid
CPC classification number: B60W30/09 , B60W30/18163 , B60W60/001 , B60W60/0053 , G05B13/0265 , B60W2520/06 , B60W2520/10 , B60W2520/105 , B60W2530/201 , B60W2552/05 , B60W2552/10 , B60W2552/15 , B60W2552/20 , B60W2554/20 , B60W2554/4041 , B60W2554/4042 , B60W2555/20
Abstract: A computer-implemented method is provided that involves determining, based on map data, an approaching merge region comprising an on-ramp merging with a road comprising one or more lanes, wherein a truck is traveling on an initial lane of the road according to a navigation plan. The method involves an indication of movement of a vehicle on the on-ramp, wherein the indication of movement is based on data collected by one or more sensors configured to capture sensor data from an environment surrounding the truck. The method involves determining, for the on-ramp and the one or more lanes, respective avoidance scores indicative of a likelihood of an interaction between the truck and the vehicle based on the approaching merge region. The method involves updating the navigation plan based on the respective avoidance scores. The method also involves controlling the truck to execute a driving strategy based on the updated navigation plan.
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