公开(公告)号：US12179798B2

公开(公告)日：2024-12-31

申请号：US17132806

申请日：2020-12-23

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Clovis Scotti

IPC: B60W60/00

Abstract: An autonomous vehicle is operated along a route according to a nominal driving solution that takes into account one or more first constraints including a first predicted trajectory for an agent vehicle. An alternate scenario is determined based on one or more second external constraints that include a second predicted trajectory for the agent vehicle different from the first predicted trajectory. A risk factor on the nominal driving solution is determined for the alternative scenario, and a secondary driving solution is determined based on the risk factor and the one or more second external constraints. A candidate switching point is identified where the secondary driving solution diverges from the nominal driving solution, and the nominal driving solution is revised up to the candidate switching point based on the secondary driving solution. The autonomous vehicle is then operated based on the revised nominal driving solution.

公开(公告)号：US20210139048A1

公开(公告)日：2021-05-13

申请号：US17132806

申请日：2020-12-23

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Clovis Scotti

IPC: B60W60/00

Abstract: An autonomous vehicle is operated along a route according to a nominal driving solution that takes into account one or more first constraints including a first predicted trajectory for an agent vehicle. An alternate scenario is determined based on one or more second external constraints that include a second predicted trajectory for the agent vehicle different from the first predicted trajectory. A risk factor on the nominal driving solution is determined for the alternative scenario, and a secondary driving solution is determined based on the risk factor and the one or more second external constraints. A candidate switching point is identified where the secondary driving solution diverges from the nominal driving solution, and the nominal driving solution is revised up to the candidate switching point based on the secondary driving solution. The autonomous vehicle is then operated based on the revised nominal driving solution.

公开(公告)号：US20250074470A1

公开(公告)日：2025-03-06

申请号：US18950841

申请日：2024-11-18

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Clovis Scotti

IPC: B60W60/00

Abstract: An autonomous vehicle is operated along a route according to a nominal driving solution that takes into account one or more first constraints including a first predicted trajectory for an agent vehicle. An alternate scenario is determined based on one or more second external constraints that include a second predicted trajectory for the agent vehicle different from the first predicted trajectory. A risk factor on the nominal driving solution is determined for the alternative scenario, and a secondary driving solution is determined based on the risk factor and the one or more second external constraints. A candidate switching point is identified where the secondary driving solution diverges from the nominal driving solution, and the nominal driving solution is revised up to the candidate switching point based on the secondary driving solution. The autonomous vehicle is then operated based on the revised nominal driving solution.