公开(公告)号：US11745742B2

公开(公告)日：2023-09-05

申请号：US17232680

申请日：2021-04-16

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G01C21/34 ,  G01C21/00 ,  G05D1/00 ,  G08G1/16

CPC classification number: B60W30/18 ,  G01C21/3407 ,  G01C21/3867 ,  G05D1/0088 ,  G05D1/0214 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/202 ,  B60W2400/00 ,  B60W2554/00 ,  B60W2720/10 ,  G08G1/167

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US11034351B2

公开(公告)日：2021-06-15

申请号：US16238135

申请日：2019-01-02

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G01C21/34 ,  G05D1/00 ,  G08G1/16

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US20190193733A1

公开(公告)日：2019-06-27

申请号：US16238135

申请日：2019-01-02

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G01C21/34 ,  G08G1/0962 ,  G08G1/0967 ,  G05D1/00

CPC classification number: B60W30/18 ,  B60W2400/00 ,  B60W2550/10 ,  B60W2550/20 ,  B60W2720/10 ,  G01C21/3407 ,  G05D1/0088 ,  G05D1/0214 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/167 ,  G08G1/202

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US20210276554A1

公开(公告)日：2021-09-09

申请号：US17232680

申请日：2021-04-16

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G01C21/34 ,  G05D1/00

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US10202118B2

公开(公告)日：2019-02-12

申请号：US15293503

申请日：2016-10-14

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.

公开(公告)号：US20180105174A1

公开(公告)日：2018-04-19

申请号：US15293503

申请日：2016-10-14

Applicant: Waymo LLC

Inventor： Jared Stephen Russell ,  Dmitri A. Dolgov ,  Nathaniel Fairfield ,  Laura Estelle Lindzey ,  Christopher Paul Urmson

IPC: B60W30/18 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W30/18 ,  B60W2400/00 ,  B60W2550/10 ,  B60W2550/20 ,  B60W2720/10 ,  G01C21/3407 ,  G05D1/0214 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/167 ,  G08G1/202

Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.