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公开(公告)号：US11884264B2
公开(公告)日：2024-01-30
申请号：US17210829
申请日：2021-03-24
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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公开(公告)号：US20230349718A1
公开(公告)日：2023-11-02
申请号：US18219195
申请日：2023-07-07
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Leonid Yeykelis , Michael Epstein , Salil Pandit
CPC classification number: G01C21/3819 , G01C21/3484 , G06T7/20 , G06T7/70 , G06F16/29 , G06V20/588 , G06V40/103
Abstract: Aspects of the disclosure relate to generating map data. For instance, data generated by a perception system of a vehicle may be received. This data corresponds to a plurality of observations including observed positions of a passenger of the vehicle as the passenger approached the vehicle at a first location. The data may be used to determine an observed distance traveled by a passenger to reach a vehicle. A road edge distance between an observed position of an observation of the plurality of observations and a nearest road edge to the observed position may be determined. An inconvenience value for the first location may be determined using the observed distance and the road edge distance. The map data is then generated using the inconvenience value.
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公开(公告)号：US11747165B2
公开(公告)日：2023-09-05
申请号：US17234002
申请日：2021-04-19
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Leonid Yeykelis , Michael Epstein , Salil Pandit
CPC classification number: G01C21/3819 , G01C21/3484 , G06F16/29 , G06T7/20 , G06T7/70 , G06V20/588 , G06V40/103
Abstract: Aspects of the disclosure relate to generating map data. For instance, data generated by a perception system of a vehicle may be received. This data corresponds to a plurality of observations including observed positions of a passenger of the vehicle as the passenger approached the vehicle at a first location. The data may be used to determine an observed distance traveled by a passenger to reach a vehicle. A road edge distance between an observed position of an observation of the plurality of observations and a nearest road edge to the observed position may be determined. An inconvenience value for the first location may be determined using the observed distance and the road edge distance. The map data is then generated using the inconvenience value.
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公开(公告)号：US11543823B2
公开(公告)日：2023-01-03
申请号：US17177278
申请日：2021-02-17
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Ken Hu
Abstract: Aspects of the disclosure provide for reducing inconvenience to other road users caused by stopped autonomous vehicles. As an example, a vehicle having an autonomous driving mode may be stopped at a first location. While the vehicle is stopped, sensor data is received from a perception system of the vehicle. The sensor data may identify a road user. Using the sensor data, a value indicative of a level of inconvenience to the road user caused by stopping the vehicle at the first location may be determined. The vehicle is controlled in the autonomous driving mode to cause the vehicle to move from the first location and in order to reduce the value.
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公开(公告)号：US20220379914A1
公开(公告)日：2022-12-01
申请号：US17882687
申请日：2022-08-08
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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Patent Agency Ranking
公开(公告)号：US11151482B2
公开(公告)日：2021-10-19
申请号：US15692458
申请日：2017-08-31
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Luis Torres , Yu-Hsin Chen , Michael Epstein
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：US20210278230A1
公开(公告)日：2021-09-09
申请号：US17234002
申请日：2021-04-19
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Leonid Yeykelis , Michael Epstein , Salil Pandit
Abstract: Aspects of the disclosure relate to generating map data. For instance, data generated by a perception system of a vehicle may be received. This data corresponds to a plurality of observations including observed positions of a passenger of the vehicle as the passenger approached the vehicle at a first location. The data may be used to determine an observed distance traveled by a passenger to reach a vehicle. A road edge distance between an observed position of an observation of the plurality of observations and a nearest road edge to the observed position may be determined. An inconvenience value for the first location may be determined using the observed distance and the road edge distance. The map data is then generated using the inconvenience value.
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公开(公告)号：US20210216074A1
公开(公告)日：2021-07-15
申请号：US17177278
申请日：2021-02-17
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Ken Hu
Abstract: Aspects of the disclosure provide for reducing inconvenience to other road users caused by stopped autonomous vehicles. As an example, a vehicle having an autonomous driving mode may be stopped at a first location. While the vehicle is stopped, sensor data is received from a perception system of the vehicle. The sensor data may identify a road user. Using the sensor data, a value indicative of a level of inconvenience to the road user caused by stopping the vehicle at the first location may be determined. The vehicle is controlled in the autonomous driving mode to cause the vehicle to move from the first location and in order to reduce the value.
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公开(公告)号：US20210133308A1
公开(公告)日：2021-05-06
申请号：US17100029
申请日：2020-11-20
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Luis Torres , Michael Epstein , Yu-Hsin Chen
IPC: G06F21/44 , G06K9/00 , H04L29/08 , B60R21/015 , G08B13/196 , G06F21/35 , H04L9/32 , G06Q10/04
Abstract: Aspects of the disclosure provide systems and methods for recognizing an assigned passenger. For instance, dispatching instructions to pick up a passenger at a pickup location are received. The instructions include authentication information for authenticating a client computing device associated with the passenger. A vehicle is maneuvered in an autonomous driving mode towards the pickup location. The client device is then authenticated. After authentication, a set of pedestrians within a predetermined distance of the vehicle are identified from sensor information generated by a sensor of the vehicle and location information is received over a period of time from the client device. The received location information is used to estimate a velocity of the passenger. This estimated velocity is used to identify a subset of set of pedestrians that is likely to be the passenger. The vehicle is stopped to allow the passenger to enter the vehicle based on the subset.
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公开(公告)号：US20210104161A1
公开(公告)日：2021-04-08
申请号：US17075898
申请日：2020-10-21
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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