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公开(公告)号：US10202118B2
公开(公告)日：2019-02-12
申请号：US15293503
申请日：2016-10-14
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Dmitri A. Dolgov , Nathaniel Fairfield , Laura Estelle Lindzey , Christopher Paul Urmson
Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.
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公开(公告)号：US10198619B1
公开(公告)日：2019-02-05
申请号：US15874130
申请日：2018-01-18
Applicant: Waymo LLC
Inventor： Jiajun Zhu , Christopher Paul Urmson , Dirk Haehnel , Nathaniel Fairfield , Russell Leigh Smith
Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.
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公开(公告)号：US20190018131A1
公开(公告)日：2019-01-17
申请号：US16143316
申请日：2018-09-26
Applicant: Waymo LLC
Inventor： Brandon Douglas Luders , Tim Campbell , Nathaniel Fairfield
IPC: G01S13/86 , G01S17/42 , G01S7/497 , G01S13/04 , G01S13/87 , G01S13/93 , G01S17/93 , G01S17/87 , G01S7/40 , G01S17/10 , G01S17/02
Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.
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公开(公告)号：US20180204458A1
公开(公告)日：2018-07-19
申请号：US15919546
申请日：2018-03-13
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
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公开(公告)号：US20180196437A1
公开(公告)日：2018-07-12
申请号：US15899208
申请日：2018-02-19
Applicant: Waymo LLC
Inventor： Joshua Seth Herbach , Nathaniel Fairfield
CPC classification number: G05D1/0212 , B60W30/00 , G01C21/34 , G05D1/0214 , G05D1/0231 , G05D1/0297 , G05D2201/0213 , G07C5/008
Abstract: An autonomous vehicle may include a stuck condition detection component and a communications component. The stuck-detection component may be configured to detect a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory. The communications component may send an assistance signal to an assistance center and receive a response to the assistance signal. The assistance signal may include sensor information from the autonomous vehicle. The assistance center may include a communications component and a trajectory specification component. The communications component may receive the assistance signal and send a corresponding response. The trajectory specification component may specify a second trajectory for the autonomous vehicle and generate the corresponding response that includes a representation of the second trajectory. The second trajectory may be based on the first trajectory and may ignore an object that obstructs the first trajectory.
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Patent Agency Ranking
公开(公告)号：US20180107222A1
公开(公告)日：2018-04-19
申请号：US15728954
申请日：2017-10-10
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Christopher Kennedy Ludwick , Matthew Paul McNaughton , Renaud-Roland Hubert , Jennifer Arden , Min Li Chan
Abstract: Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.
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公开(公告)号：US20180105174A1
公开(公告)日：2018-04-19
申请号：US15293503
申请日：2016-10-14
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Dmitri A. Dolgov , Nathaniel Fairfield , Laura Estelle Lindzey , Christopher Paul Urmson
CPC classification number: B60W30/18 , B60W2400/00 , B60W2550/10 , B60W2550/20 , B60W2720/10 , G01C21/3407 , G05D1/0214 , G08G1/00 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/167 , G08G1/202
Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.
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公开(公告)号：US09868391B1
公开(公告)日：2018-01-16
申请号：US15054958
申请日：2016-02-26
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Benjamin Charrow
CPC classification number: B60Q5/005
Abstract: Aspects of the disclosure relate to providing audible indications to objects located externally to a vehicle having an autonomous driving mode. For instance, a vehicle is controlled in the autonomous driving mode along a particular path. Information identifying a characteristic and a location of an object is received. When vehicle is determined to be prevented from proceeding along the particular path because of the location of the object, a scenario is identified using the characteristic. The scenario is associated with a predetermined period of time and a type of audible indication used to identify an audible indication. After the waiting the predetermined period, when the object is determined to still be preventing the vehicle from proceeding along the particular path, the audible indication is played through a speaker of the vehicle to encourage the object to take an action to allow the vehicle to proceed along the particular path.
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公开(公告)号：US09862364B2
公开(公告)日：2018-01-09
申请号：US14959067
申请日：2015-12-04
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield
IPC: B60T7/12 , G05D1/00 , B60T8/1755 , B60T7/22
CPC classification number: B60T7/12 , B60T7/22 , B60T8/17558 , B60T2201/024 , B60T2210/36 , G05D1/0055 , G05D1/0077 , G05D1/0088 , G05D2201/0213
Abstract: Aspects of the disclosure involve a collision mitigated braking system employed in vehicles operating in a self-driving (autonomous) mode. Collision mitigated braking provides redundancy to the vehicle's main driving system in emergency situations. The collision mitigated braking system is configured to cause the vehicle to come to a stop when an imminent collision is perceived and the main driving system has not initiated a braking maneuver. A perception component employs information received from vehicle sensors, analyzing the sensor data to identify nearby objects of interest that are determined to be in the vehicle's path or that could otherwise collide with the vehicle. A control component evaluates the objects of interest to determine whether immediate braking is required. If this is the case and the main driving system has not begun to brake, the control component causes the vehicle to perform immediate braking to avoid a possible collision.
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公开(公告)号：US20170355375A1
公开(公告)日：2017-12-14
申请号：US15667015
申请日：2017-08-02
Applicant: Waymo LLC
Inventor： David I. Ferguson , Nathaniel Fairfield , Anthony Levandowski
Abstract: Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.
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