公开(公告)号：US20240017738A1

公开(公告)日：2024-01-18

申请号：US17862658

申请日：2022-07-12

Applicant: Waymo LLC

Inventor： Steven Vozar ,  Ioan-Alexandru Sucan ,  Jory Denny ,  Jens-Steffen Ralf Gutmann ,  Ryan Luna ,  Jonathan Daudelin ,  Tian Jin

IPC: B60W60/00 ,  G01C21/34

CPC classification number: B60W60/001 ,  G01C21/3453 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/06

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For example, a set of potential stopping locations may be identified based on a current location of an autonomous vehicle. A set of potential states may be identified for the autonomous vehicle. A fallback cost for each potential state of the set of potential states to reach each potential stopping location of the set of potential stopping locations may be determined. A trajectory for an autonomous vehicle may be planned based on a route to a destination and the determined fallback costs. The autonomous vehicle may be controlled according to at least a portion of the trajectory.

公开(公告)号：US12037024B1

公开(公告)日：2024-07-16

申请号：US17506498

申请日：2021-10-20

Applicant: Waymo LLC

Inventor： Jory Denny ,  Ryan Luna

IPC: B60W60/00 ,  B60W30/18 ,  B60W40/10

CPC classification number: B60W60/0027 ,  B60W40/10 ,  B60W30/18145 ,  B60W30/18163 ,  B60W60/00253 ,  B60W2554/801 ,  B60W2554/802

Abstract: Aspects of the disclosure provide a method of processing trajectories. For instance, a planned trajectory may be received. A behavior prediction of the other road user may be received. For a sub portion of a plurality of sub portions of the planned trajectory, whether the sub portion conflicts with the behavior prediction of the other road user may be determined. When the sub portion is determined to conflict, whether the sub portion and the behavior prediction of the other road user meet at least one of a plurality of sets of preconditions may be determined. When the sub portion and the behavior prediction of the other road user are determined to meet at least one of the plurality of sets of preconditions, the planned trajectory may be annotated with a reaction for the other road user. The annotated planned trajectory may be used to control the autonomous vehicle.