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    Assisted Perception for Autonomous Vehicles
    1.
    发明申请
    Assisted Perception for Autonomous Vehicles 有权

    公开(公告)号：US20250085706A1

    公开(公告)日：2025-03-13

    申请号：US18953500

    申请日：2024-11-20

    Applicant: Waymo LLC

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

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

    Remote Assistance for an Autonomous Vehicle in Low Confidence Situations
    2.
    发明申请
    Remote Assistance for an Autonomous Vehicle in Low Confidence Situations 有权

    公开(公告)号：US20250013231A1

    公开(公告)日：2025-01-09

    申请号：US18889024

    申请日：2024-09-18

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach

    IPC: G05D1/00 ,  B60W50/02 ,  H04L67/12

    Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator when the vehicle's confidence in operation is low. One example method includes operating an autonomous vehicle in a first autonomous mode. The method may also include identifying a situation where a level of confidence of an autonomous operation in the first autonomous mode is below a threshold level. The method may further include sending a request for assistance to a remote assistor, the request including sensor data representative of a portion of an environment of the autonomous vehicle. The method may additionally include receiving a response from the remote assistor, the response indicating a second autonomous mode of operation. The method may also include causing the autonomous vehicle to operate in the second autonomous mode of operation in accordance with the response from the remote assistor.

    Method and vehicle for responding to a lane blocking object
    3.
    发明授权
    Method and vehicle for responding to a lane blocking object 有权

    公开(公告)号：US12179749B2

    公开(公告)日：2024-12-31

    申请号：US18243319

    申请日：2023-09-07

    Applicant: WAYMO LLC

    Inventor： Nathaniel Fairfield ,  Vadim Furman

    IPC: B60W30/09 ,  B60W30/18 ,  G05D1/00 ,  G08G1/16 ,  B60Q1/34

    Abstract: A method and apparatus for controlling a first vehicle autonomously are disclosed. For instance, one or more processors may plan to maneuver the first vehicle to complete an action and predict that a second vehicle will take a particular responsive action. The first vehicle is then maneuvered towards completing the action in a way that would allow the first 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 according to whether the second vehicle begins to take the particular responsive action.

    Independently actuated wheel sets for large autonomous self-driving vehicles
    6.
    发明授权
    Independently actuated wheel sets for large autonomous self-driving vehicles 有权

    公开(公告)号：US11675357B2

    公开(公告)日：2023-06-13

    申请号：US16863450

    申请日：2020-04-30

    Applicant: Waymo LLC

    Inventor： Nolan Shenai ,  Nathaniel Fairfield ,  Benjamin Pitzer

    IPC: G05D1/02 ,  B62D7/14 ,  G05D1/00 ,  B62D7/15

    CPC classification number: G05D1/0214 ,  B62D7/144 ,  B62D7/1509 ,  G05D1/0088 ,  G05D2201/0213

    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.

    Dynamic routing for autonomous vehicles
    8.
    发明授权
    Dynamic routing for autonomous vehicles 有权

    公开(公告)号：US11537133B2

    公开(公告)日：2022-12-27

    申请号：US15931012

    申请日：2020-05-13

    Applicant: Waymo LLC

    Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach

    IPC: G05D1/02 ,  G01C21/20 ,  G01C21/34 ,  G01C21/36 ,  G08G1/0968

    Abstract: A route for a trip to a destination is generated using map information. A set of no-go roadway segments, where the vehicle is not able to drive in an autonomous mode, relevant to the route from the plurality of no-go roadway segments is identified from the map information. A local region around a current location of the vehicle is determined. A local map region including roadway segments of the map information that correspond to locations within the local region is determined. The set of the plurality of no-go roadway segments is filtered from the roadway segments of the local map region. A cost value is assigned to each roadway segment of the filtered roadway segments of the local map region. Any assigned cost values are used to determining a plan for maneuvering the vehicle for a predetermined period into the future. The vehicle is maneuvered according to the plan.

    FALLBACK REQUESTS FOR AUTONOMOUS VEHICLES
    9.
    发明申请
    FALLBACK REQUESTS FOR AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20220180753A1

    公开(公告)日：2022-06-09

    申请号：US17666808

    申请日：2022-02-08

    Applicant: WAYMO LLC

    Inventor： Joshua Seth Herbach ,  Philip Nemec ,  Nathaniel Fairfield

    IPC: G08G1/00 ,  G06F9/48 ,  G06F9/54 ,  B60W50/029 ,  G05D1/02 ,  G05D1/00 ,  G06F9/46

    Abstract: Aspects of the present disclosure relate to a system having a memory, a plurality of self-driving systems for controlling a vehicle, and one or more processors. The processors are configured to receive at least one fallback task in association with a request for a primary task and at least one trigger of each fallback task. Each trigger is a set of conditions that, when satisfied, indicate when a vehicle requires attention for proper operation. The processors are also configured to send instructions to the self-driving systems to execute the primary task and receive status updates from the self-driving systems. The processors are configured to determine that a set of conditions of a trigger is satisfied based on the status updates and send further instructions based on the associated fallback task to the self-driving systems.

    Handling sensor occlusions for autonomous vehicles
    10.
    发明授权
    Handling sensor occlusions for autonomous vehicles 有权

    公开(公告)号：US11345335B1

    公开(公告)日：2022-05-31

    申请号：US16890274

    申请日：2020-06-02

    Applicant: Waymo LLC

    Inventor： Brandon Douglas Luders ,  Vadim Furman ,  Nathaniel Fairfield

    IPC: B60W30/00 ,  G08G1/16 ,  G01S17/00 ,  G01S13/931 ,  G05D1/00 ,  G05D1/02 ,  G01S17/931 ,  G06V20/56

    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.

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