公开(公告)号：US09880557B1

公开(公告)日：2018-01-30

申请号：US15587702

申请日：2017-05-05

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Philip Nemec ,  Anne Kristiina Aula

IPC: G08G9/02 ,  G05D1/02 ,  B62D15/02 ,  B60W30/16

CPC classification number: G05D1/021 ,  B60W30/16 ,  B60W2550/30 ,  B60W2550/308 ,  B60W2750/308 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/00 ,  G05D1/0055 ,  G05D1/0287

Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

公开(公告)号：US09811091B2

公开(公告)日：2017-11-07

申请号：US15137120

申请日：2016-04-25

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02 ,  B60W30/18 ,  B60W50/00

CPC classification number: G05D1/0274 ,  B60W30/18154 ,  B60W2050/0095 ,  B60W2550/12 ,  G05D1/0248 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213

Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.

公开(公告)号：US12236327B1

公开(公告)日：2025-02-25

申请号：US18536876

申请日：2023-12-12

Applicant: WAYMO LLC

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

IPC: B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W50/00 ,  B60W60/00 ,  G05D1/00 ,  G06N3/00 ,  G06N20/00 ,  G06V20/56 ,  G06V20/58 ,  G08G1/0962 ,  G08G1/0967 ,  G08G1/16 ,  G01R19/25 ,  G06V10/20

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：US11727523B2

公开(公告)日：2023-08-15

申请号：US17528595

申请日：2021-11-17

Applicant: Waymo LLC

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

IPC: G06Q50/30 ,  G06Q10/0631 ,  G05D1/00 ,  G08G1/123 ,  G01C21/36 ,  G08G1/00 ,  G01C21/34 ,  B60W60/00 ,  G08G1/005

CPC classification number: G06Q50/30 ,  G01C21/3617 ,  G05D1/00 ,  G06Q10/06315 ,  G06Q10/063114 ,  G08G1/005 ,  G08G1/123 ,  G08G1/202 ,  B60K2370/175 ,  B60W60/00253 ,  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.

公开(公告)号：US20220161790A1

公开(公告)日：2022-05-26

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 ,  G08G1/0962 ,  G08G1/0967 ,  B60W30/18

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：US11287817B1

公开(公告)日：2022-03-29

申请号：US16441699

申请日：2019-06-14

Applicant: Waymo LLC

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

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

Abstract: A system and method are arranged to provide recommendations to a user of a vehicle. In one aspect, the vehicle navigates in an autonomous mode 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 recommendations, as well as data based on the sensors of other vehicles.

公开(公告)号：US11034351B2

公开(公告)日：2021-06-15

申请号：US16238135

申请日：2019-01-02

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G01C21/34 ,  G05D1/00 ,  G08G1/16

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.

公开(公告)号：US10663976B2

公开(公告)日：2020-05-26

申请号：US15719912

申请日：2017-09-29

Applicant: Waymo LLC

Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02 ,  B60W30/18 ,  B60W50/00

Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.

公开(公告)号：US10508986B1

公开(公告)日：2019-12-17

申请号：US15959611

申请日：2018-04-23

Applicant: Waymo LLC

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

IPC: G01N21/27 ,  G05D1/00 ,  G01S17/08

Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.

公开(公告)号：US10377378B2

公开(公告)日：2019-08-13

申请号：US15958365

申请日：2018-04-20

Applicant: Waymo LLC

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

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

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.