公开(公告)号：US10093311B2

公开(公告)日：2018-10-09

申请号：US15202698

申请日：2016-07-06

Applicant: Waymo LLC

Inventor： Nathaniel Fairfield ,  Vadim Furman

IPC: G05D1/02 ,  B60W40/09 ,  B60W30/09 ,  B60W30/18 ,  G08G1/16

Abstract: Testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway is provided. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

公开(公告)号：US20180265082A1

公开(公告)日：2018-09-20

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 ,  G08G1/0967 ,  G08G1/0962

CPC classification number: B60W30/09 ,  B60W30/18154 ,  B60W2550/22 ,  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.

公开(公告)号：US09864378B1

公开(公告)日：2018-01-09

申请号：US15594191

申请日：2017-05-12

Applicant: Waymo LLC

Inventor： David Ian Franklin Ferguson ,  Wan-Yen Lo ,  Nathaniel Fairfield

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  G06K9/00 ,  G07C5/00

CPC classification number: G05D1/0246 ,  B60W40/04 ,  B60W2050/0077 ,  B60W2050/0215 ,  G05D1/00 ,  G05D1/0022 ,  G05D1/0088 ,  G06K9/00791 ,  G06K9/00805 ,  G07C5/008 ,  H04L67/125

Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.

公开(公告)号：US20170277191A1

公开(公告)日：2017-09-28

申请号：US15079591

申请日：2016-03-24

Applicant: Waymo LLC

Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach ,  Christopher Kennedy Ludwick ,  Matthew Paul McNaughton ,  Renaud-Roland Hubert ,  Jennifer Arden ,  Min Li Chan

IPC: G05D1/02 ,  G05D1/00 ,  H04W4/02

CPC classification number: G05D1/0212 ,  G05D1/0088 ,  H04W4/029

Abstract: Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.

公开(公告)号：US09720412B1

公开(公告)日：2017-08-01

申请号：US14865660

申请日：2015-09-25

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  Christopher Urmson ,  David I. Ferguson ,  Nathaniel Fairfield ,  Dmitri Dolgov

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0231 ,  B60W30/00 ,  G05D1/0246 ,  G05D2201/0213

Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.

公开(公告)号：US09669827B1

公开(公告)日：2017-06-06

申请号：US14873647

申请日：2015-10-02

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  David Harrison Silver ,  Stéphane Ross ,  Nathaniel Fairfield ,  Ioan-Alexandru Sucan

IPC: B60W30/09 ,  B60W30/095 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/18154 ,  B60W2550/10 ,  B60W2550/30 ,  B60W2600/00 ,  B60W2720/24 ,  G05D1/0088 ,  G05D1/0214

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.

公开(公告)号：US12233852B1

公开(公告)日：2025-02-25

申请号：US18605292

申请日：2024-03-14

Applicant: Waymo LLC

Inventor： Brandon Douglas Luders ,  Vadim Furman ,  Nathaniel Fairfield

IPC: B60W30/00 ,  G01S13/931 ,  G01S17/00 ,  G01S17/931 ,  G05D1/00 ,  G06V20/56 ,  G08G1/16

Abstract: The technology relates to identifying sensor occlusions due to the limits of the ranges of a vehicle's sensors and using this information to maneuver the vehicle. As an example, the vehicle is maneuvered along a route that includes traveling on a first roadway and crossing over a lane of a second roadway. A trajectory is identified from the lane that will cross with the route during the crossing at a first point. A second point beyond a range of the vehicle's sensors is selected. The second point corresponds to a hypothetical vehicle moving towards the route along the lane. A distance between the first point and the second point is determined. An amount of time that it would take the hypothetical vehicle to travel the distance is determined and compared to a threshold amount of time. The vehicle is maneuvered based on the comparison to complete the crossing.

公开(公告)号：US20250053172A1

公开(公告)日：2025-02-13

申请号：US18929174

申请日：2024-10-28

Applicant: Waymo LLC

Inventor： David Ian Franklin Ferguson ,  Nathaniel Fairfield ,  Bradley Templeton

IPC: G05D1/00 ,  B60W30/18

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.

公开(公告)号：US12174640B2

公开(公告)日：2024-12-24

申请号：US18484090

申请日：2023-10-10

Applicant: Waymo LLC

Inventor： David Ian Ferguson ,  Wan-Yen Lo ,  Nathaniel Fairfield

IPC: G05D1/00 ,  B60W40/04 ,  G06V20/56 ,  G06V20/58 ,  G07C5/00 ,  B60W50/00 ,  B60W50/02 ,  H04L67/125

Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.

公开(公告)号：US20240393789A1

公开(公告)日：2024-11-28

申请号：US18795346

申请日：2024-08-06

Applicant: Waymo LLC

Inventor： Nolan Shenai ,  Nathaniel Fairfield ,  Benjamin Pitzer

IPC: G05D1/00 ,  B62D7/14 ,  B62D7/15

Abstract: The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.