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公开(公告)号：US12280767B2
公开(公告)日：2025-04-22
申请号：US18531218
申请日：2023-12-06
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Jonathan Lee Pedersen
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle to enter a driveway. As an example, an instruction to pickup or drop off a passenger at a location may be received. It may be determined that the vehicle is arriving in a lane on an opposite side of a street as the location, the lane having a traffic direction opposite to a traffic direction of a lane adjacent to the location. A difficulty score to maneuver the vehicle to the lane adjacent to the location may be determined, and the difficulty score may be compared to a predetermined difficulty score. Based on the comparison, it may be determined to an available driveway on the same side of the street as the location. The vehicle may be controlled to enter the available driveway.
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公开(公告)号：US11977387B2
公开(公告)日：2024-05-07
申请号：US18074737
申请日：2022-12-05
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein
CPC classification number: G05D1/0214 , B60W60/00253 , B60W2554/406
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle to respond to queuing behaviors at pickup or drop-off locations. As an example, a request to pick up or drop off a passenger at a location may be received. The location may be determined to likely have a queue for picking up and dropping off passengers. Based on sensor data received from a perception system, whether a queue exists at the location may be determined. Once it is determined that a queue exists, it may be determined whether to join the queue to avoid inconveniencing other road users. Based on the determination to join the queue, the vehicle may be controlled to join the queue.
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公开(公告)号：US20230259836A1
公开(公告)日：2023-08-17
申请号：US18306390
申请日：2023-04-25
Applicant: WAYMO LLC
Inventor： John Wesley Dyer , Luis Torres , Yu-Hsin Chen , Michael Epstein
CPC classification number: G06Q10/025 , G06Q50/30 , G06Q50/10 , G01C21/343
Abstract: Aspects of the disclosure provide systems and methods for confirming the identity of a passenger and changing destination of a vehicle. This may include receiving dispatching instructions to pick up a first passenger at a pickup location and to drop off the first passenger at a first destination as well as authentication information for authenticating a first client computing device of the first passenger. Once the client device is authenticated and a second passenger enters the vehicle, the vehicle is maneuvered towards the first destination. While doing so, a location of the vehicle is compared to location information received from the client computing devices. A notification is sent to a dispatching server based on the comparison and a second destination location is received in response. The vehicle is then maneuvered towards the second destination instead of the first destination.
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公开(公告)号：US11720102B2
公开(公告)日：2023-08-08
申请号：US17330973
申请日：2021-05-26
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Konstantin Pervyshev , Jonathan Lee Pedersen , Salil Pandit
CPC classification number: G05D1/0088 , B60W30/06 , B60W60/00 , B62D6/00 , B62D15/02 , G05D1/021 , G08G1/16
Abstract: Aspects of the disclosure relate to parking behaviors and maneuvering a vehicle in an autonomous driving mode accordingly. For instance, a pullover location for the vehicle to stop and wait for a passenger may be identified. The vehicle may be maneuvered in the autonomous driving mode in order to pull over by pulling forward into the pullover location. Whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle may be determined based on context for the pull over with respect to the passenger. The vehicle may be maneuvered in the autonomous driving mode in reverse based on the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle.
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公开(公告)号：US11543824B2
公开(公告)日：2023-01-03
申请号：US16154829
申请日：2018-10-09
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle to respond to queuing behaviors at pickup or drop-off locations. As an example, a request to pick up or drop off a passenger at a location may be received. The location may be determined to likely have a queue for picking up and dropping off passengers. Based on sensor data received from a perception system, whether a queue exists at the location may be determined. Once it is determined that a queue exists, it may be determined whether to join the queue to avoid inconveniencing other road users. Based on the determination to join the queue, the vehicle may be controlled to join the queue.
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Patent Agency Ranking
公开(公告)号：US11297473B2
公开(公告)日：2022-04-05
申请号：US17073433
申请日：2020-10-19
Applicant: Waymo LLC
Inventor： Philip Nemec , Renaud-Roland Hubert , Joshua Seth Herbach , Min Li Chan , Michael Epstein , Salil Pandit , John Wesley Dyer , Juliet Rothenberg
Abstract: The technology relates to actively looking for an assigned passenger prior to a vehicle 100 reaching a pickup location. For instance, information identifying the pickup location and client device information for authenticating the assigned passenger is received. Sensor data is received from a perception system of the vehicle identifying objects in an environment of the vehicle. When the vehicle is within a predetermined distance from the pickup location, authenticating a client device using the client device information is attempted. When the client device has been authenticated, the sensor data is used to determine whether a pedestrian is within a first threshold distance of the vehicle. When a pedestrian is determined to be within the first threshold distance of the vehicle, the vehicle is stopped prior to reaching the pickup location, to wait for the pedestrian within the first threshold distance of the vehicle to enter the vehicle.
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公开(公告)号：US20200264612A1
公开(公告)日：2020-08-20
申请号：US16815751
申请日：2020-03-11
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Luis Torres , Michael Epstein , Guillaume Dupre , Joshua Seth Herbach
Abstract: Aspects of the present disclosure relate to context aware stopping of a vehicle without a driver. As an example, after a passenger has entered the vehicle, the vehicle is maneuvered by one or more processors in an autonomous driving mode towards a destination location along a route. The route is divided into two or more stages. A signal is received by the one or more processors. The signal indicates that the passenger is requesting that the vehicle stop or pull over. In response to the signal, the one or more processors determine a current stage of the route based on a current distance of the vehicle from a pickup location where the passenger entered the vehicle or a current distance of the vehicle from the destination location. The one or more processors then stop the vehicle in accordance with the determined current stage.
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公开(公告)号：US20200143690A1
公开(公告)日：2020-05-07
申请号：US16702937
申请日：2019-12-04
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Philip Nemec , Joshua Newby , Michael Epstein
Abstract: The disclosure relates to smart signs or physical markers for facilitating passenger trips for autonomous vehicles. For instance, a physical marker remote from the autonomous vehicles may receive a first notification indicating a request for a trip has been made via a client computing device. The physical marker may determine when the client computing device has reached a physical marker, and in response to the determination, the physical marker may send a second notification to a dispatching server computing device indicating that the client computing device has reached a physical marker. Other aspects of the disclosure relate to various features and uses for the physical marker.
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公开(公告)号：US20200021958A1
公开(公告)日：2020-01-16
申请号：US16554810
申请日：2019-08-29
Applicant: Waymo LLC
Inventor： Philip Nemec , Renaud-Roland Hubert , Joshua Seth Herbach , Min Li Chan , Michael Epstein , Salil Pandit , John Wesley Dyer , Juliet Rothenberg
Abstract: The technology relates to actively looking for an assigned passenger prior to a vehicle 100 reaching a pickup location. For instance, information identifying the pickup location and client device information for authenticating the assigned passenger is received. Sensor data is received from a perception system (172) of the vehicle identifying objects in an environment of the vehicle. When the vehicle is within a predetermined distance (represented by distance bar 772) from the pickup location (represented by marker 770), authenticating a client device (420, 430) using the client device information is attempted. When the client device has been authenticated, the sensor data is used to determine whether a pedestrian (750, 752) is within a first threshold distance (D1) of the vehicle. When a pedestrian (650, 652, 654, 656) is determined to be within the first threshold distance of the vehicle, the vehicle is stopped prior to reaching the pickup location, to wait for the pedestrian within the first threshold distance of the vehicle to enter the vehicle.
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公开(公告)号：US20240101104A1
公开(公告)日：2024-03-28
申请号：US18531218
申请日：2023-12-06
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Jonathan Lee Pedersen
CPC classification number: B60W30/06 , G05D1/0088 , G05D1/0221 , G08G1/168 , G05D2201/0213
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle to enter a driveway. As an example, an instruction to pickup or drop off a passenger at a location may be received. It may be determined that the vehicle is arriving in a lane on an opposite side of a street as the location, the lane having a traffic direction opposite to a traffic direction of a lane adjacent to the location. A difficulty score to maneuver the vehicle to the lane adjacent to the location may be determined, and the difficulty score may be compared to a predetermined difficulty score. Based on the comparison, it may be determined to an available driveway on the same side of the street as the location. The vehicle may be controlled to enter the available driveway.
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