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公开(公告)号：US11693405B2
公开(公告)日：2023-07-04
申请号：US17037924
申请日：2020-09-30
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade , Michael James , Ioan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
CPC分类号： G05D1/0077 , G05D1/0088 , G05D1/0212 , G05D1/0223
摘要： Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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2.发明申请公开(公告)号：US20200094850A1
公开(公告)日：2020-03-26
申请号：US16139538
申请日：2018-09-24
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade
IPC分类号： B60W50/029 , G05D1/00
摘要： The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.
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公开(公告)号：US20240239356A1
公开(公告)日：2024-07-18
申请号：US18423940
申请日：2024-01-26
申请人： WAYMO LLC
发明人： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC分类号： B60W50/029 , B60W10/04 , B60W10/20 , B60W50/02 , G05D1/228
CPC分类号： B60W50/029 , B60W10/04 , B60W10/20 , B60W50/0205 , G05D1/228 , B60W2050/0215 , B60W2420/403 , B60W2420/408 , B60W2420/54 , B60W2710/20 , B60W2720/106
摘要： The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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4.发明申请公开(公告)号：US20220153286A1
公开(公告)日：2022-05-19
申请号：US17532547
申请日：2021-11-22
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade
IPC分类号： B60W50/029 , G05D1/00 , G08G1/00 , B60W60/00
摘要： The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.
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公开(公告)号：US20230280748A1
公开(公告)日：2023-09-07
申请号：US18196486
申请日：2023-05-12
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade , Michael James , Ioan-Alexandru Sucan , Christopher Kennedy Ludwick , Joshua Seth Herbach , Misha Balakhno , Andrew Barton-Sweeney
CPC分类号： G05D1/0077 , G05D1/0223 , G05D1/0212 , G05D1/0088
摘要： Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
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6.发明授权公开(公告)号：US11214272B2
公开(公告)日：2022-01-04
申请号：US16139538
申请日：2018-09-24
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade
IPC分类号： B60W50/029 , G05D1/00 , G08G1/00 , B60W60/00
摘要： The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.
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公开(公告)号：US11208111B2
公开(公告)日：2021-12-28
申请号：US16215713
申请日：2018-12-11
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC分类号： B60W10/04 , B60W10/20 , B60W50/02 , B60W50/029 , G05D1/00
摘要： The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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公开(公告)号：US11062537B2
公开(公告)日：2021-07-13
申请号：US15908113
申请日：2018-02-28
申请人： Waymo LLC
发明人： Ryan Joseph Andrade , Ryan Cash , Peter Colijn , Laurens Andreas Feenstra , Congyu Gao , Dirk Haehnel , Steven Reis , Omari Stephens
摘要： Aspects of the disclosure relate to determining vehicle operation modes for a fleet of vehicles. This may include maintaining a storage system including vehicle parameters for a vehicle fleet such that each vehicle of the fleet is associated with a set of vehicle parameters. The vehicle operation mode may be determined by selecting one of a plurality of vehicle operation levels arranged in a hierarchy or by identifying a set of tags where each level or tag corresponds to a vehicle driving capability. The determined vehicle operation mode may be communicated to the given vehicle in order to cause the vehicle to operate according to the determined vehicle operation mode.
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公开(公告)号：US11912292B2
公开(公告)日：2024-02-27
申请号：US17531946
申请日：2021-11-22
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC分类号： B60W50/029 , B60W10/04 , B60W10/20 , B60W50/02 , G05D1/00
CPC分类号： B60W50/029 , B60W10/04 , B60W10/20 , B60W50/0205 , G05D1/0088 , B60W2050/0215 , B60W2420/42 , B60W2420/52 , B60W2420/54 , B60W2710/20 , B60W2720/106 , G05D2201/0213
摘要： The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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公开(公告)号：US20200180653A1
公开(公告)日：2020-06-11
申请号：US16215713
申请日：2018-12-11
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC分类号： B60W50/029 , G05D1/00 , B60W10/04 , B60W10/20 , B60W50/02
摘要： The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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