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公开(公告)号：US20170341643A1
公开(公告)日：2017-11-30
申请号：US15618461
申请日：2017-06-09
Applicant: Waymo LLC
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
IPC: B60W30/09 , G08G1/0962
CPC classification number: B60W30/09 , G08G1/09623 , G08G1/09626 , G08G1/096725 , 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.
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公开(公告)号：US09740202B2
公开(公告)日：2017-08-22
申请号：US15371595
申请日：2016-12-07
Applicant: Waymo LLC
Inventor： Andrew Barton-Sweeney , Daniel Trawick Egnor , Nathaniel Fairfield
CPC classification number: G05D1/0055 , B60W30/00 , G01C21/3415 , G05D1/0088 , G05D1/0212 , G05D1/0214 , G05D1/0274 , G05D2201/0213
Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
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公开(公告)号：US09707960B2
公开(公告)日：2017-07-18
申请号：US14448299
申请日：2014-07-31
Applicant: Waymo LLC
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
CPC classification number: B60W30/09 , G08G1/09623 , G08G1/09626 , G08G1/096725 , 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.
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公开(公告)号：US20170158175A1
公开(公告)日：2017-06-08
申请号：US14959067
申请日：2015-12-04
Applicant: WAYMO LLC
Inventor： Nathaniel Fairfield
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：US12228928B1
公开(公告)日：2025-02-18
申请号：US18220628
申请日：2023-07-11
Applicant: WAYMO LLC
Inventor： Jiajun Zhu , Christopher Paul Urmson , Dirk Haehnel , Nathaniel Fairfield , Russell Leigh Smith
IPC: G06K9/00 , 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 , G05D1/00 , 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: 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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Patent Agency Ranking
公开(公告)号：US20250026352A1
公开(公告)日：2025-01-23
申请号：US18905849
申请日：2024-10-03
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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公开(公告)号：US12165515B2
公开(公告)日：2024-12-10
申请号：US18364808
申请日：2023-08-03
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：US12153432B2
公开(公告)日：2024-11-26
申请号：US17654259
申请日：2022-03-10
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , Nathaniel Fairfield , Bradley Templeton
Abstract: Disclosed herein are methods and apparatus for controlling autonomous vehicles utilizing maps that include visibility information. A map is stored at a computing device associated with a vehicle. The vehicle is configured to operate in an autonomous mode that supports a plurality of driving behaviors. The map includes information about a plurality of roads, a plurality of features, and visibility information for at least a first feature in the plurality of features. The computing device queries the map for visibility information for the first feature at a first position. The computing device, in response to querying the map, receives the visibility information for the first feature at the first position. The computing device selects a driving behavior for the vehicle based on the visibility information. The computing device controls the vehicle in accordance with the selected driving behavior.
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公开(公告)号：US20240346933A1
公开(公告)日：2024-10-17
申请号：US18648549
申请日：2024-04-29
Applicant: WAYMO LLC
Inventor： Joshua Seth Herbach , Philip Nemec , Nathaniel Fairfield
CPC classification number: G08G1/202 , B60W50/029 , G05D1/223 , G05D1/227 , G06F9/46 , G06F9/4881 , G06F9/546 , G08G1/00 , B60W2050/0005 , B60W2050/0006 , B60W2530/209
Abstract: Aspects of the present disclosure relate to a system having a memory, a plurality of self-driving systems for controlling a vehicle, and one or more processors. The processors are configured to receive at least one fallback task in association with a request for a primary task and at least one trigger of each fallback task. Each trigger is a set of conditions that, when satisfied, indicate when a vehicle requires attention for proper operation. The processors are also configured to send instructions to the self-driving systems to execute the primary task and receive status updates from the self-driving systems. The processors are configured to determine that a set of conditions of a trigger is satisfied based on the status updates and send further instructions based on the associated fallback task to the self-driving systems.
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公开(公告)号：US12090997B1
公开(公告)日：2024-09-17
申请号：US17123219
申请日：2020-12-16
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC: B60W30/09 , B60W30/095 , B60W30/18 , G05D1/00
CPC classification number: B60W30/09 , B60W30/0953 , B60W30/0956 , B60W30/18154 , G05D1/0088 , G05D1/0214 , B60W2554/00 , B60W2554/80 , B60W2556/00 , B60W2720/24
Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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