公开(公告)号：US20240375684A1

公开(公告)日：2024-11-14

申请号：US18784780

申请日：2024-07-25

Applicant: Waymo LLC

Inventor： Jonathan Lee Pedersen ,  Yu Zheng ,  Eamonn Michael Doherty ,  Brian Clair Williammee ,  Kevin Joseph Malta ,  Chung Eun Kim ,  Xu Dong

IPC: B60W60/00 ,  B60W30/18 ,  B60W40/06 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selecting a pull-over location using machine learning. One of the methods includes obtaining data specifying a target pull-over location for an autonomous vehicle travelling on a roadway. A plurality of candidate pull-over locations in a vicinity of the target pull-over location are identified. For each candidate pull-over location, an input that includes features of the candidate pull-over location is processed using a machine learning model to generate a respective likelihood score representing a predicted likelihood that the candidate pull-over location is an optimal location. The features of the candidate pull-over location include one or more features that compare the candidate pull-over location to the target pull-over location. Using the respective likelihood scores, one of the candidate pull-over locations is selected as an actual pull-over location for the autonomous vehicle.

公开(公告)号：US11947356B2

公开(公告)日：2024-04-02

申请号：US17229054

申请日：2021-04-13

Applicant: Waymo LLC

Inventor： Daniella Gutlansky ,  Mishika Vora ,  Tiffany Washburn ,  Yu Zheng ,  Sandra Lennie

IPC: G05D1/02 ,  G05D1/00 ,  G06V10/25

CPC classification number: G05D1/0214 ,  G05D1/0055 ,  G05D1/0088 ,  G06V10/25 ,  G05D2201/0213

Abstract: Aspects of the disclosure relate to evaluating pullovers for autonomous vehicles. In one instance, a set of potential pullover locations within a predetermined distance of a destination may be identified. Whether any of the potential pullover locations of the set include one or more of a plurality of predetermined types of regions of interest where a vehicle should not park for an extended period of time may be determined. A pullover location is identified based on the determination. The identified pullover location may be compared to a pullover location identified by autonomous vehicle control software in order to evaluate the pullover location identified by the autonomous vehicle control software.

公开(公告)号：US20230099334A1

公开(公告)日：2023-03-30

申请号：US17491068

申请日：2021-09-30

Applicant: Waymo LLC

Inventor： Jonathan Lee Pedersen ,  Yu Zheng ,  Eamonn Michael Doherty ,  Brian Clair Williammee ,  Kevin Joseph Malta ,  Chung Eun Kim ,  Xu Dong

IPC: B60W60/00 ,  B60W30/18 ,  B60W40/06 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selecting a pull-over location using machine learning. One of the methods includes obtaining data specifying a target pull-over location for an autonomous vehicle travelling on a roadway. A plurality of candidate pull-over locations in a vicinity of the target pull-over location are identified. For each candidate pull-over location, an input that includes features of the candidate pull-over location is processed using a machine learning model to generate a respective likelihood score representing a predicted likelihood that the candidate pull-over location is an optimal location. The features of the candidate pull-over location include one or more features that compare the candidate pull-over location to the target pull-over location. Using the respective likelihood scores, one of the candidate pull-over locations is selected as an actual pull-over location for the autonomous vehicle.

公开(公告)号：US12071162B2

公开(公告)日：2024-08-27

申请号：US17491068

申请日：2021-09-30

Applicant: Waymo LLC

Inventor： Jonathan Lee Pedersen ,  Yu Zheng ,  Eamonn Michael Doherty ,  Brian Clair Williammee ,  Kevin Joseph Malta ,  Chung Eun Kim ,  Xu Dong

IPC: B60W60/00 ,  B60W30/18 ,  B60W40/06 ,  G06N20/00

CPC classification number: B60W60/0016 ,  B60W30/181 ,  B60W40/06 ,  G06N20/00 ,  B60W2552/45 ,  B60W2555/60

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selecting a pull-over location using machine learning. One of the methods includes obtaining data specifying a target pull-over location for an autonomous vehicle travelling on a roadway. A plurality of candidate pull-over locations in a vicinity of the target pull-over location are identified. For each candidate pull-over location, an input that includes features of the candidate pull-over location is processed using a machine learning model to generate a respective likelihood score representing a predicted likelihood that the candidate pull-over location is an optimal location. The features of the candidate pull-over location include one or more features that compare the candidate pull-over location to the target pull-over location. Using the respective likelihood scores, one of the candidate pull-over locations is selected as an actual pull-over location for the autonomous vehicle.

公开(公告)号：US20240192687A1

公开(公告)日：2024-06-13

申请号：US18588393

申请日：2024-02-27

Applicant: Waymo LLC

Inventor： Daniella Gutlansky ,  Mishika Vora ,  Tiffany Washburn ,  Yu Zheng ,  Sandra Lennie

IPC: G05D1/00 ,  G06V10/25

CPC classification number: G05D1/0214 ,  G06V10/25

Abstract: Aspects of the disclosure relate to evaluating pullovers for autonomous vehicles. In one instance, a set of potential pullover locations within a predetermined distance of a destination may be identified. Whether any of the potential pullover locations of the set include one or more of a plurality of predetermined types of regions of interest where a vehicle should not park for an extended period of time may be determined. A pullover location is identified based on the determination. The identified pullover location may be compared to a pullover location identified by autonomous vehicle control software in order to evaluate the pullover location identified by the autonomous vehicle control software.

公开(公告)号：US20220326711A1

公开(公告)日：2022-10-13

申请号：US17229054

申请日：2021-04-13

Applicant: Waymo LLC

Inventor： Daniella Gutlansky ,  Mishika Vora ,  Tiffany Washburn ,  Yu Zheng ,  Sandra Lennie

IPC: G05D1/02 ,  G05D1/00 ,  G06K9/32

Abstract: Aspects of the disclosure relate to evaluating pullovers for autonomous vehicles. In one instance, a set of potential pullover locations within a predetermined distance of a destination may be identified. Whether any of the potential pullover locations of the set include one or more of a plurality of predetermined types of regions of interest where a vehicle should not park for an extended period of time may be determined. A pullover location is identified based on the determination. The identified pullover location may be compared to a pullover location identified by autonomous vehicle control software in order to evaluate the pullover location identified by the autonomous vehicle control software.