公开(公告)号：US10513273B1

公开(公告)日：2019-12-24

申请号：US15718477

申请日：2017-09-28

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Andrew Schultz

IPC: G01C22/00 ,  B60W50/10 ,  G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.

公开(公告)号：US11731644B1

公开(公告)日：2023-08-22

申请号：US17748565

申请日：2022-05-19

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Andrew Schultz

IPC: G01C22/00 ,  B60W50/10 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W50/10 ,  G05D1/0088 ,  G05D1/0223 ,  B60W2540/12 ,  B60W2540/18 ,  B60W2720/106 ,  B60W2720/24 ,  G05D2201/0213

Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.

公开(公告)号：US11364928B1

公开(公告)日：2022-06-21

申请号：US16685209

申请日：2019-11-15

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Andrew Schultz

IPC: G01C22/00 ,  B60W50/10 ,  G05D1/02 ,  G05D1/00

Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.