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    HANDLING MANEUVER LIMITS FOR AUTONOMOUS DRIVING SYSTEMS
    1.
    发明申请
    HANDLING MANEUVER LIMITS FOR AUTONOMOUS DRIVING SYSTEMS 有权

    公开(公告)号：US20250091614A1

    公开(公告)日：2025-03-20

    申请号：US18969041

    申请日：2024-12-04

    Applicant: Waymo LLC

    Inventor： Joshua P. Switkes ,  Andrew Barton-Sweeney ,  Vadim Butakov ,  Diomidis Katzourakis ,  Craig Latimer ,  David Smith

    IPC: B60W60/00

    Abstract: A method includes determining a maximum first parameter value and a maximum second parameter value corresponding to an autonomous vehicle (AV) for traveling a route. The method further includes determining, based on a first load value at a first distal end of a first axle of the AV and a second load value at a second distal end of the first axle, an updated first parameter value and an updated second parameter value corresponding to the AV for traveling the route. The method further includes causing the AV to travel the route based on the updated first parameter value and the updated second parameter value.

    Operational Response Model based on Operational Parameters
    5.
    发明公开
    Operational Response Model based on Operational Parameters 审中-公开

    公开(公告)号：US20230166765A1

    公开(公告)日：2023-06-01

    申请号：US17457128

    申请日：2021-12-01

    Applicant: Waymo LLC

    Inventor： Kevin Yoon ,  Vadim Butakov

    IPC: B60W60/00 ,  B60W10/04 ,  B60W10/18

    CPC classification number: B60W60/0013 ,  B60W10/04 ,  B60W10/18 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2530/205 ,  B60W2530/10 ,  B60W2555/20 ,  B60W2520/16 ,  B60W2520/18

    Abstract: An autonomous vehicle is provided that includes one or more sensors coupled to the autonomous vehicle, and a computing device configured to: (i) receive, from the one or more sensors, operational data related to an operation of the autonomous vehicle, (ii) receive geographical data related to an anticipated route of the autonomous vehicle, (iii) generate, for the anticipated route and based on the operational data and the geographical data, an operational response model representing respective operational constraints for one or more operational parameters of the autonomous vehicle, wherein values for the one or more operational parameters are represented along coordinate axes of a geometrical shape, and wherein the one or more operational parameters are mutually coupled to each other, and (iv) responsively execute, based on the operational response model, an autonomous control strategy comprising one or more adjustments to the operation of the vehicle within the respective operational constraints.

    Architecture For Variable Motion Control Envelope
    7.
    发明申请
    Architecture For Variable Motion Control Envelope 有权

    公开(公告)号：US20220204017A1

    公开(公告)日：2022-06-30

    申请号：US17135259

    申请日：2020-12-28

    Applicant: WAYMO LLC

    Inventor： Andrew Barton-Sweeney ,  Rami Hindiyeh ,  Peter Greene ,  Vadim Butakov ,  Diomidis Katzourakis

    IPC: B60W60/00 ,  G01C21/34 ,  G01C21/36 ,  G06K9/00

    Abstract: The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.

    Operational response model based on operational parameters
    9.
    发明授权
    Operational response model based on operational parameters 有权

    公开(公告)号：US12187314B2

    公开(公告)日：2025-01-07

    申请号：US17457128

    申请日：2021-12-01

    Applicant: Waymo LLC

    Inventor： Kevin Yoon ,  Vadim Butakov

    IPC: B60W60/00 ,  B60W10/04 ,  B60W10/18 ,  B60W50/00

    Abstract: An autonomous vehicle is provided that includes one or more sensors coupled to the autonomous vehicle, and a computing device configured to: (i) receive, from the one or more sensors, operational data related to an operation of the autonomous vehicle, (ii) receive geographical data related to an anticipated route of the autonomous vehicle, (iii) generate, for the anticipated route and based on the operational data and the geographical data, an operational response model representing respective operational constraints for one or more operational parameters of the autonomous vehicle, wherein values for the one or more operational parameters are represented along coordinate axes of a geometrical shape, and wherein the one or more operational parameters are mutually coupled to each other, and (iv) responsively execute, based on the operational response model, an autonomous control strategy comprising one or more adjustments to the operation of the vehicle within the respective operational constraints.

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