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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：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：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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