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公开(公告)号：US20240151544A1
公开(公告)日：2024-05-09
申请号：US18513884
申请日：2023-11-20
Applicant: Waymo LLC
Inventor： Xu Dong , Jonathan Lee Pedersen , Jakob Robert Zwiener
CPC classification number: G01C21/3461 , B60W30/08 , B60W60/0015 , B60W2554/4048 , B60W2554/80
Abstract: The technology involves pullover maneuvers for vehicles operating in an autonomous driving mode. A vehicle operating in an autonomous driving mode is able to identify parking locations that may be occluded or otherwise not readily visible. A best case estimation for any potential parking locations, including partially or fully occluded areas, is compared against predictions for identified visible parking locations. This can include calculating a cost for each potential parking location and comparing that cost to a baseline cost. Upon determining that an occluded location would provide a more viable option than any visible parking locations, the vehicle is able to initiate a driving adjustment (e.g., slow down) prior to arriving at the occluded location. This enables the vehicle to minimize passenger discomfort while also providing notice to other road users of an intent to pull over.
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公开(公告)号：US20230064179A1
公开(公告)日：2023-03-02
申请号：US17410022
申请日：2021-08-24
Applicant: Waymo LLC
Inventor： Xu Dong , Jonathan Lee Pedersen , Jakob Robert Zwiener
Abstract: The technology involves pullover maneuvers for vehicles operating in an autonomous driving mode. A vehicle operating in an autonomous driving mode is able to identify parking locations that may be occluded or otherwise not readily visible. A best case estimation for any potential parking locations, including partially or fully occluded areas, is compared against predictions for identified visible parking locations. This can include calculating a cost for each potential parking location and comparing that cost to a baseline cost. Upon determining that an occluded location would provide a more viable option than any visible parking locations, the vehicle is able to initiate a driving adjustment (e.g., slow down) prior to arriving at the occluded location. This enables the vehicle to minimize passenger discomfort while also providing notice to other road users of an intent to pull over.
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公开(公告)号：US11048256B2
公开(公告)日：2021-06-29
申请号：US16536560
申请日：2019-08-09
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Konstantin Pervyshev , Jonathan Lee Pedersen , Salil Pandit
Abstract: Aspects of the disclosure relate to parking behaviors and maneuvering a vehicle in an autonomous driving mode accordingly. For instance, a pullover location for the vehicle to stop and wait for a passenger may be identified. The vehicle may be maneuvered in the autonomous driving mode in order to pull over by pulling forward into the pullover location. Whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle may be determined based on context for the pull over with respect to the passenger. The vehicle may be maneuvered in the autonomous driving mode in reverse based on the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle.
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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：US11780462B2
公开(公告)日：2023-10-10
申请号：US17967059
申请日：2022-10-17
Applicant: Waymo LLC
Inventor： Mishika Vora , Jonathan Lee Pedersen
CPC classification number: B60W60/001 , B60W30/18009 , B60W50/14 , B60W2555/20
Abstract: Aspects of the disclosure provide for enabling autonomous vehicles to pull over into driveways when picking up or dropping off passengers or goods. For instance, a request for a trip identifying a first location and a second location may be received. The first location may be a location of a client computing device, and the second location may be a starting location or a destination for the trip. A user preference for the trip indicating that a pickup for the trip be in a driveway may be identified. That the first location corresponds with the second location may be identified. Based on the determination that the first location corresponds with the second location, dispatch instructions may be to an autonomous vehicle. The dispatch instructions may identify a polygon for a driveway at the second location in order to cause the autonomous vehicle to pull over into the driveway.
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Patent Agency Ranking
公开(公告)号：US20220355817A1
公开(公告)日：2022-11-10
申请号：US17308092
申请日：2021-05-05
Applicant: Waymo LLC
Inventor： Mishika Vora , Jonathan Lee Pedersen
Abstract: Aspects of the disclosure provide for enabling autonomous vehicles to pull over into driveways when picking up or dropping off passengers or goods. For instance, a request for a trip identifying a first location and a second location may be received. The first location may be a location of a client computing device, and the second location may be a starting location or a destination for the trip. A user preference for the trip indicating that a pickup for the trip be in a driveway may be identified. That the first location corresponds with the second location may be identified. Based on the determination that the first location corresponds with the second location, dispatch instructions may be to an autonomous vehicle. The dispatch instructions may identify a polygon for a driveway at the second location in order to cause the autonomous vehicle to pull over into the driveway.
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公开(公告)号：US20210278844A1
公开(公告)日：2021-09-09
申请号：US17330973
申请日：2021-05-26
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Konstantin Pervyshev , Jonathan Lee Pedersen , Salil Pandit
Abstract: Aspects of the disclosure relate to parking behaviors and maneuvering a vehicle in an autonomous driving mode accordingly. For instance, a pullover location for the vehicle to stop and wait for a passenger may be identified. The vehicle may be maneuvered in the autonomous driving mode in order to pull over by pulling forward into the pullover location. Whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle may be determined based on context for the pull over with respect to the passenger. The vehicle may be maneuvered in the autonomous driving mode in reverse based on the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle.
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公开(公告)号：US20210245737A1
公开(公告)日：2021-08-12
申请号：US17210829
申请日：2021-03-24
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Jonathan Lee Pedersen
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：US20210053567A1
公开(公告)日：2021-02-25
申请号：US16546626
申请日：2019-08-21
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Jonathan Lee Pedersen
Abstract: Aspects of the disclosure relate to maneuvering a vehicle in an autonomous driving mode. For instance, a time constraint for a pullover maneuver and a geographic constraint for the pullover maneuver may be identified. The time constraint and the geographic constraint may be input into a model in order to receive a list of qualities for a region, the region including a plurality of pullover locations. Whether to attempt to find a pullover location within the region to perform the pullover maneuver may be determined based on the list of qualities for the region. The vehicle may be maneuvered in the autonomous driving mode based on the determination whether to attempt to find a pullover location within the region.
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公开(公告)号：US20210041870A1
公开(公告)日：2021-02-11
申请号：US16536560
申请日：2019-08-09
Applicant: Waymo LLC
Inventor： John Wesley Dyer , Michael Epstein , Konstantin Pervyshev , Jonathan Lee Pedersen , Salil Pandit
Abstract: Aspects of the disclosure relate to parking behaviors and maneuvering a vehicle in an autonomous driving mode accordingly. For instance, a pullover location for the vehicle to stop and wait for a passenger may be identified. The vehicle may be maneuvered in the autonomous driving mode in order to pull over by pulling forward into the pullover location. Whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle may be determined based on context for the pull over with respect to the passenger. The vehicle may be maneuvered in the autonomous driving mode in reverse based on the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle.
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