公开(公告)号：US11518395B1

公开(公告)日：2022-12-06

申请号：US15825674

申请日：2017-11-29

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: B60W50/02 ,  G08G1/16 ,  B60R1/00 ,  B60W50/14 ,  H04N7/18 ,  G06V10/98 ,  G06V20/56 ,  B60W50/00

Abstract: Methods and systems are disclosed for cross-validating a second sensor with a first sensor. Cross-validating the second sensor may include obtaining sensor readings from the first sensor and comparing the sensor readings from the first sensor with sensor readings obtained from the second sensor. In particular, the comparison of the sensor readings may include comparing state information about a vehicle detected by the first sensor and the second sensor. In addition, comparing the sensor readings may include obtaining a first image from the first sensor, obtaining a second image from the second sensor, and then comparing various characteristics of the images. One characteristic that may be compared are object labels applied to the vehicle detected by the first and second sensor. The first and second sensors may be different types of sensors.

公开(公告)号：US11014557B1

公开(公告)日：2021-05-25

申请号：US15887151

申请日：2018-02-02

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Dmitri A. Dolgov

IPC: B60W30/14 ,  G05D1/00

Abstract: Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

公开(公告)号：US10591919B1

公开(公告)日：2020-03-17

申请号：US15598487

申请日：2017-05-18

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/26

Abstract: Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.

公开(公告)号：USD812070S1

公开(公告)日：2018-03-06

申请号：US29581730

申请日：2016-10-21

Applicant: Waymo LLC

Designer： Robertus Christianus Elisabeth Mariet ,  Manuel Christian Clement ,  Philip Nemec ,  Brian Douglas Cullinane ,  Andrew Timothy Szybalski ,  Dmitri A. Dolgov

公开(公告)号：US09658620B1

公开(公告)日：2017-05-23

申请号：US14727273

申请日：2015-06-01

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Dmitri A. Dolgov ,  Andrew Hughes Chatham ,  Philip Nemec

IPC: B62D6/00 ,  G05D1/02 ,  G05D1/00 ,  G01C21/36

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: A system and method is provided of providing recommendations to a user of a vehicle. In one aspect, the vehicle navigates autonomously and the sensors provide information that is based on the location of the vehicle and output from sensors directed to the environment surrounding the vehicle. In further aspects, both current and previous sensor data is used to make the recommendation, as well as data based on the sensors of other vehicles.

公开(公告)号：US12271195B1

公开(公告)日：2025-04-08

申请号：US18210447

申请日：2023-06-15

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Sebastian Thrun ,  Luis Ricardo Prada Gomez ,  Christopher Paul Urmson ,  Nathaniel Fairfield ,  Anthony Scott Levandowski

IPC: G05D1/00 ,  B60R1/00 ,  B60T7/22 ,  B60T8/00 ,  B60T8/17 ,  B60T8/88 ,  B60T17/18 ,  B60T17/22 ,  B60W30/08 ,  B60W40/06 ,  B60W50/14 ,  G01C21/36 ,  G01S17/86 ,  G01S17/931 ,  G06Q10/02 ,  G06Q30/02 ,  G06Q30/0207 ,  G06Q40/08 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T7/521 ,  G06T7/73 ,  G06V20/58 ,  G06V20/64 ,  G07C9/00 ,  B60W30/186 ,  B60W50/029 ,  B62D6/00 ,  G01S13/86 ,  G06V10/20 ,  G06V20/56

Abstract: Aspects of the present disclosure relate generally to limiting the use of an autonomous or semi-autonomous vehicle by particular occupants based on permission data. More specifically, permission data may include destinations, routes, and/or other information that is predefined or set by a third party. The vehicle may then access the permission data in order to transport the particular occupant to the predefined destination, for example, without deviation from the predefined route. The vehicle may drop the particular occupant off at the destination and may wait until the passenger is ready to move to another predefined destination. The permission data may be used to limit the ability of the particular occupant to change the route of the vehicle completely or by some maximum deviation value. For example, the vehicle may be able to deviate from the route up to a particular distance from or along the route.

公开(公告)号：US20240217510A1

公开(公告)日：2024-07-04

申请号：US18411167

申请日：2024-01-12

Applicant: WAYMO LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Andreas Wendel ,  Nathaniel Fairfield ,  Dmitri A. Dolgov ,  Donald Jason Burnette

IPC: B60W30/09 ,  B60W30/18 ,  G08G1/0962 ,  G08G1/0967

CPC classification number: B60W30/09 ,  B60W30/18154 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  B60W2555/60 ,  G08G1/096783 ,  G08G1/096791

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

公开(公告)号：US11970160B2

公开(公告)日：2024-04-30

申请号：US17670900

申请日：2022-02-14

Applicant: WAYMO LLC

Inventor： Jens-Steffen Ralf Gutmann ,  Andreas Wendel ,  Nathaniel Fairfield ,  Dmitri A. Dolgov ,  Donald Jason Burnette

IPC: B60W30/09 ,  B60W30/18 ,  G08G1/0962 ,  G08G1/0967

CPC classification number: B60W30/09 ,  B60W30/18154 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  B60W2555/60 ,  G08G1/096783 ,  G08G1/096791

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

公开(公告)号：US11878683B1

公开(公告)日：2024-01-23

申请号：US17523350

申请日：2021-11-10

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov

IPC: B60W30/09 ,  G05D1/00 ,  G05D1/02 ,  G08G1/16 ,  B60W30/08 ,  B60W30/095 ,  G08G1/0962 ,  G08G1/0967 ,  G06N20/00 ,  G06N3/00 ,  G06V20/56 ,  G06V20/58 ,  B60W50/00 ,  G01R19/25 ,  G06V10/20

CPC classification number: B60W30/09 ,  B60W30/08 ,  B60W30/095 ,  B60W30/0956 ,  B60W50/0097 ,  G05D1/0088 ,  G05D1/0214 ,  G06N3/00 ,  G06N20/00 ,  G06V20/56 ,  G06V20/58 ,  G06V20/582 ,  G06V20/584 ,  G06V20/588 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166 ,  B60W2554/00 ,  G01R19/25 ,  G05D1/0212 ,  G05D1/0289 ,  G06V10/255

Abstract: A method and apparatus are provided for determining one or more behavior models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the behavior models. The server may determine the behavior models according to a given object classification, actions of interest performed by the object, and the object's perceived surroundings.

公开(公告)号：US20230410241A1

公开(公告)日：2023-12-21

申请号：US18213994

申请日：2023-06-26

Applicant: WAYMO LLC

Inventor： Christopher Paul Urmson ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Peter Colijin ,  Salil Pandit ,  Nirmal Patel ,  Ryan Powell ,  Min Li Chan

IPC: G06Q50/30 ,  G08G1/005 ,  G06Q10/0631 ,  G05D1/00 ,  G08G1/123 ,  G01C21/36 ,  G08G1/00

CPC classification number: G06Q50/30 ,  G08G1/005 ,  G06Q10/063114 ,  G05D1/00 ,  G08G1/123 ,  G01C21/3617 ,  G06Q10/06315 ,  G08G1/202 ,  B60K2370/175 ,  G01C21/343

Abstract: The technology relates to facilitating transportation services between a user and a vehicle having an autonomous driving mode. For instance, one or more server computing devices having one or more processors may information identifying the current location of the vehicle. The one or more server computing devices may determine that the user is likely to want to take a trip to a particular destination based on prior location history for the user. The one or more server computing devices may dispatch the vehicle to cause the vehicle to travel in the autonomous driving mode towards a location of the user. In addition, after dispatching, the one or more server computing devices sending a notification to a client computing device associated with the user indicating that the vehicle is currently available to take the passenger to the particular destination.