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公开(公告)号：US20220119011A1
公开(公告)日：2022-04-21
申请号：US17071008
申请日：2020-10-15
Applicant: WAYMO LLC
Inventor： Dong Li , Tian Jin , Mingxiang Fan , Rajiv Kurian
Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.
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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
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.
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公开(公告)号：US20240317265A1
公开(公告)日：2024-09-26
申请号：US18734007
申请日：2024-06-05
Applicant: Waymo LLC
Inventor： Dong Li , Tian Jin , Mingxiang Fan , Rajiv Kurian
CPC classification number: B60W60/0016 , B60W60/00272 , B60W60/00276 , G08G1/16 , B60W2554/80
Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.
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公开(公告)号：US12037017B2
公开(公告)日：2024-07-16
申请号：US17071008
申请日：2020-10-15
Applicant: WAYMO LLC
Inventor： Dong Li , Tian Jin , Mingxiang Fan , Rajiv Kurian
CPC classification number: B60W60/0016 , B60W60/00272 , B60W60/00276 , G08G1/16 , B60W2554/80
Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.
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