公开(公告)号：US20220089189A1

公开(公告)日：2022-03-24

申请号：US17028428

申请日：2020-09-22

Applicant: Waymo LLC

Inventor： Salil Pandit ,  Robert Chen ,  Bruce Mai

IPC: B60W60/00 ,  G05D1/00 ,  G01C21/36 ,  G01C21/34 ,  G08G1/133

Abstract: Aspects of the disclosure relate to providing transportation services with autonomous vehicles. For instance, a first route to a first destination may be determined. The first route may have a first cost. Weather information for the first destination may be received. A characteristic is determined based on the weather information. A second destination having the characteristic may be selected. The second destination may be different from the first destination. A second route to the second destination may be determined. The second route may have a second cost. The first cost may be compared to the first cost, and the vehicle may use the comparison to set one of the first destination or the second destination as a current destination for a vehicle to cause the vehicle to control itself in an autonomous driving mode to the current destination.

公开(公告)号：US12077188B2

公开(公告)日：2024-09-03

申请号：US17028428

申请日：2020-09-22

Applicant: Waymo LLC

Inventor： Salil Pandit ,  Robert Chen ,  Bruce Mai

IPC: B60W60/00 ,  G01C21/34 ,  G01C21/36 ,  G05D1/00 ,  G08G1/133

CPC classification number: B60W60/0025 ,  G01C21/3453 ,  G01C21/3691 ,  G05D1/0088 ,  G08G1/133 ,  B60W2555/20

Abstract: Aspects of the disclosure relate to providing transportation services with autonomous vehicles. For instance, a first route to a first destination may be determined. The first route may have a first cost. Weather information for the first destination may be received. A characteristic is determined based on the weather information. A second destination having the characteristic may be selected. The second destination may be different from the first destination. A second route to the second destination may be determined. The second route may have a second cost. The first cost may be compared to the second cost, and the vehicle may use the comparison to set one of the first destination or the second destination as a current destination for a vehicle to cause the vehicle to control itself in an autonomous driving mode to the current destination.

公开(公告)号：US20230264715A1

公开(公告)日：2023-08-24

申请号：US18310620

申请日：2023-05-02

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  G06V20/56 ,  B60W40/06 ,  G06F18/23 ,  G06F18/2415

CPC classification number: B60W60/00184 ,  B60W40/06 ,  B60W60/001 ,  B60W60/00182 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56 ,  G06V20/588 ,  B60W2420/52

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US11673581B2

公开(公告)日：2023-06-13

申请号：US17118758

申请日：2020-12-11

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  G06V20/56 ,  B60W40/06 ,  G06F18/23 ,  G06F18/2415

CPC classification number: B60W60/00184 ,  B60W40/06 ,  B60W60/001 ,  B60W60/00182 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56 ,  G06V20/588 ,  B60W2420/52

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US20220028277A1

公开(公告)日：2022-01-27

申请号：US16935266

申请日：2020-07-22

Applicant: Waymo LLC

Inventor： Vijaysai Patnaik ,  Robert Chen

IPC: G08G1/00 ,  G08G1/0967

Abstract: The disclosure relates to managing a fleet of autonomous vehicles. For instance, a method may include receiving, from a plurality of the autonomous vehicles of the fleet, reports identifying locations of detected puddles. A miles per puddle rate may be determined based on the received reports. An operating policy for the fleet may be determined based on the miles per puddle rate. An instruction may be sent to one or more of the autonomous vehicles of the fleet in order to implement the operating policy.

公开(公告)号：US20240025446A1

公开(公告)日：2024-01-25

申请号：US17894812

申请日：2022-08-24

Applicant: Waymo LLC

Inventor： Diomidis Katzourakis ,  John P. Alsterda ,  Rami Y. Hindiyeh ,  Robert Chen ,  Carson Schultz

IPC: B60W60/00

CPC classification number: B60W60/0015 ,  B60W2552/05 ,  B60W2555/20 ,  B60W2552/40 ,  B60W2556/10

Abstract: A method includes obtaining road patch type data associated with at least one road patch type, deriving, from the road patch type data, a set of road patch type parameters for the at least one road patch type, generating, based on the set of road patch type parameters, a set of risk metrics, each risk metric of the set of risk metrics corresponding to a respective road patch type parameter of the set of road patch type parameters, identifying, based at least in part on the set of risk metrics, a set of autonomous vehicle (AV) motion planning constraints selected for the at least one road patch type, and providing the set of AV motion planning constraints to update motion planning functionality performed by at least one component of an AV.

公开(公告)号：US20220185313A1

公开(公告)日：2022-06-16

申请号：US17118758

申请日：2020-12-11

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  G06K9/62 ,  G06K9/00

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US20240351613A1

公开(公告)日：2024-10-24

申请号：US18761529

申请日：2024-07-02

Applicant: Waymo LLC

Inventor： Salil Pandit ,  Robert Chen ,  Bruce Mai

IPC: B60W60/00 ,  G01C21/34 ,  G01C21/36 ,  G08G1/133

CPC classification number: B60W60/0025 ,  G01C21/3453 ,  G01C21/3691 ,  G08G1/133 ,  B60W2555/20

Abstract: Aspects of the disclosure relate to providing transportation services with autonomous vehicles. For instance, a first route to a first destination may be determined. The first route may have a first cost. Weather information for the first destination may be received. A characteristic is determined based on the weather information. A second destination having the characteristic may be selected. The second destination may be different from the first destination. A second route to the second destination may be determined. The second route may have a second cost. The first cost may be compared to the second cost, and the vehicle may use the comparison to set one of the first destination or the second destination as a current destination for a vehicle to cause the vehicle to control itself in an autonomous driving mode to the current destination.

公开(公告)号：US12060080B2

公开(公告)日：2024-08-13

申请号：US18310620

申请日：2023-05-02

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  B60W40/06 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56

CPC classification number: B60W60/00184 ,  B60W40/06 ,  B60W60/001 ,  B60W60/00182 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56 ,  G06V20/588 ,  B60W2420/408

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US11816992B2

公开(公告)日：2023-11-14

申请号：US16935266

申请日：2020-07-22

Applicant: Waymo LLC

Inventor： Vijaysai Patnaik ,  Robert Chen

IPC: G08G1/00 ,  G08G1/0967

CPC classification number: G08G1/207 ,  G08G1/096775 ,  G08G1/22

Abstract: The disclosure relates to managing a fleet of autonomous vehicles. For instance, a method may include receiving, from a plurality of the autonomous vehicles of the fleet, reports identifying locations of detected puddles. A miles per puddle rate may be determined based on the received reports. An operating policy for the fleet may be determined based on the miles per puddle rate. An instruction may be sent to one or more of the autonomous vehicles of the fleet in order to implement the operating policy.