公开(公告)号：US11657318B2

公开(公告)日：2023-05-23

申请号：US16214991

申请日：2018-12-10

Applicant: Waymo LLC

Inventor： Ioan-Alexandru Sucan ,  Fang Da ,  Poonam Suryanarayan ,  Nathaniel Fairfield ,  Yutaka Leon Suematsu ,  Omer Baror ,  Jian Leong ,  Michael Epstein

IPC: G06N20/00 ,  B60W50/00 ,  G05D1/02

CPC classification number: G06N20/00 ,  B60W50/0098 ,  G05D1/0276 ,  G05D2201/0213

Abstract: The disclosure relates to training models for identification of events likely to cause discomfort to passengers of autonomous vehicles and for assessment of overall ride quality of autonomous vehicle rides. For instance, ride data may be associated with a ride quality value indicative of a level of discomfort and/or a first overall ride quality value indicating an overall ride quality provided by the passenger for the first ride. This ride data may be used to train a model such that the model is configured to, in response to receiving ride data for a second ride as input, output a list of events likely to cause discomfort to a passenger during the second ride and/or such that the model is configured to, in response to receiving second ride data for a second ride as input, output a second overall ride quality value for the second ride.

公开(公告)号：US11210200B2

公开(公告)日：2021-12-28

申请号：US17029663

申请日：2020-09-23

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36 ,  G05D1/00

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US20210004313A1

公开(公告)日：2021-01-07

申请号：US17029663

申请日：2020-09-23

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US11645189B2

公开(公告)日：2023-05-09

申请号：US17517207

申请日：2021-11-02

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36 ,  G05D1/00

CPC classification number: G06F11/3608 ,  G06F11/3688 ,  G05D1/0088

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US10831636B2

公开(公告)日：2020-11-10

申请号：US15864239

申请日：2018-01-08

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36 ,  G05D1/00

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US20220100635A1

公开(公告)日：2022-03-31

申请号：US17517207

申请日：2021-11-02

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US20190213103A1

公开(公告)日：2019-07-11

申请号：US15864239

申请日：2018-01-08

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.