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31. 发明专利

AU2017291708B2 Testing predictions for autonomous vehicles 未知
公开(公告)号：AU2017291708B2
公开(公告)日：2019-10-10
申请号：AU2017291708
申请日：2017-06-28
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FURMAN VADIM
IPC分类号： B60W30/14 , B60W50/00 , G05D1/00 , G05D1/02
摘要： Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors 120 may plan to maneuver a first vehicle 100 autonomously to complete an action and predict that a second vehicle 680, 780, 880 will take a responsive action. The first vehicle is 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 using the determination of whether the second vehicle begins to take the particular responsive action.

32. 发明专利

AU2017238151A1 Arranging passenger pickups for autonomous vehicles 未知
公开(公告)号：AU2017238151A1
公开(公告)日：2018-09-20
申请号：AU2017238151
申请日：2017-03-22
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , HERBACH JOSHUA SETH , LUDWICK CHRISTOPHER KENNEDY , MCNAUGHTON MATTHEW PAUL , HUBERT RENAUD-ROLAND , ARDEN JENNIFER , CHAN MIN LI
IPC分类号： G06Q50/30 , G08G1/00
摘要： Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger' s client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.

33. 发明专利

CA3010272A1 AUTONOMOUS VEHICLE SERVICES 未知
公开(公告)号：CA3010272A1
公开(公告)日：2017-07-06
申请号：CA3010272
申请日：2016-12-27
申请人： WAYMO LLC
发明人： URMSON CHRISTOPHER PAUL , COLIJN PETER , DOLGOV DMITRI A , FAIRFIELD NATHANIEL , PANDIT SALIL , PATEL NIRMAL , POWELL RYAN , CHAN MIN LI
IPC分类号： G06Q50/30 , H04W4/02 , H04W12/06
摘要： The technology relates to facilitating transportation services between a user 422, 432 and a vehicle 100, 100A having an autonomous driving mode. For instance, one or more server computing devices 410 having one or more processors may information identifying the current location of the vehicle. The one or more server computing devices may determine that the user is likely to want to take a trip to a particular destination based on prior location history for the user. The one or more server computing devices may dispatch the vehicle to cause the vehicle to travel in the autonomous driving mode towards a location 660, 662 of the user. In addition, after dispatching, the one or more server computing devices sending a notification 710, 720 to a client computing device 420, 430 associated with the user indicating that the vehicle is currently available to take the passenger to the particular destination.

34. 发明专利

CA3002537A1 METHODS AND SYSTEMS FOR CLEARING SENSOR OCCLUSIONS 未知
公开(公告)号：CA3002537A1
公开(公告)日：2017-04-27
申请号：CA3002537
申请日：2016-10-19
申请人： WAYMO LLC
发明人： LUDERS BRANDON DOUGLAS , CAMPBELL TIM , FAIRFIELD NATHANIEL
IPC分类号： G05D1/00 , G05D1/02 , G05D1/12
摘要： A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

35. 发明专利

CA3069730C METHODS AND SYSTEMS FOR PROVIDING REMOTE ASSISTANCE TO A VEHICLE 未知
公开(公告)号：CA3069730C
公开(公告)日：2022-06-28
申请号：CA3069730
申请日：2018-06-18
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , DOLGOV DMITRI , HERBACH JOSHUA
IPC分类号： B60W30/14 , B60W30/18 , B60W40/02 , G05D1/00
摘要： Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating in a rewind mode. In the rewind mode, the system may be configured to provide information to a remote assistance operated based on a remote-assistance triggering criteria being met. When the triggering criteria is met, the remote assistance system may provide data from the time leading up to when the remote-assistanc e triggering criteria was met that was capture of the environment of autonomous vehicle to the remote assistance operator. Based on viewing the data, the remote assistance operator may provide and input to the system that causes a command to be issued to the autonomous vehicle.

36. 发明专利

AU2019205817B2 Software validation for autonomous vehicles 未知
公开(公告)号：AU2019205817B2
公开(公告)日：2022-01-27
申请号：AU2019205817
申请日：2019-01-08
申请人： WAYMO LLC
发明人： MORLEY FRANKLIN , BAROR OMER , FAIRFIELD NATHANIEL , CRARY MINER
IPC分类号： B60W30/14 , B60W10/18 , B60W30/08 , G05D1/00 , G05D1/02
摘要： 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.

37. 发明专利

CA3029828C TESTING PREDICTIONS FOR AUTONOMOUS VEHICLES 未知
公开(公告)号：CA3029828C
公开(公告)日：2021-04-20
申请号：CA3029828
申请日：2017-06-28
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FURMAN VADIM
IPC分类号： B60W30/09 , B60W50/00 , B60W60/00 , G05D1/02
摘要： Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors 120 may plan to maneuver a first vehicle 100 autonomously to complete an action and predict that a second vehicle 680, 780, 880 will take a responsive action. The first vehicle is 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 using the determination of whether the second vehicle begins to take the particular responsive action.

38. 发明专利

AU2020200302B2 Fall back trajectory systems for autonomous vehicles 未知
公开(公告)号：AU2020200302B2
公开(公告)日：2020-10-08
申请号：AU2020200302
申请日：2020-01-15
申请人： WAYMO LLC
发明人： BARTON-SWEENEY ANDREW , EGNOR DANIEL TRAWICK , FAIRFIELD NATHANIEL
IPC分类号： G05D1/00 , G05D1/02
摘要： FALL BACK TRAJECTORY SYSTEMS FOR AUTONOMOUS A method of controlling a vehicle (100), the method comprising: generating, by a primary computing system (110), a fall back trajectory (910) from a location for the vehicle (100) in order to safely stop the vehicle (100), the fall back trajectory (910) being generated based on information received by the primary computing system (110) from a perception system (172) of the vehicle (100), wherein the fall back trajectory (910) is identical to a nominal trajectory (920) to a destination location between the location and a divergent point where the fall back trajectory (910) and the nominal trajectory (920) diverge; sending, by the primary computing system (110), the fall back trajectory (910) to a secondary computing system (210); receiving, by the secondary computing system (210), the fall back trajectory (910) at a first point in time; controlling, by the secondary computing system (210), the vehicle (100) according to the fall back trajectory (910); waiting, by the secondary computing system (210), for an updated trajectory while controlling the vehicle (100) according to the fall back trajectory (910); and when a predetermined threshold period of time from the first point in time has passed and an updated trajectory has not been received by the secondary computing system (210), continuing to control the vehicle (100), by the secondary computing system (210), according to the fall back trajectory (910) in order to safely stop the vehicle (100).

39. 发明专利

AU2020204157A1 Arranging passenger pickups for autonomous vehicles 未知
公开(公告)号：AU2020204157A1
公开(公告)日：2020-07-09
申请号：AU2020204157
申请日：2020-06-22
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , HERBACH JOSHUA SETH , LUDWICK CHRISTOPHER KENNEDY , MCNAUGHTON MATTHEW PAUL , HUBERT RENAUD-ROLAND , ARDEN JENNIFER , CHAN MIN LI
IPC分类号： G06Q50/30 , G08G1/00
摘要： ARRANGING PASSENGER PICKUPS FOR AUTONOMOUS VEHICLES Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.

40. 发明专利

AU2019205817A1 Software validation for autonomous vehicles 未知
公开(公告)号：AU2019205817A1
公开(公告)日：2020-07-09
申请号：AU2019205817
申请日：2019-01-08
申请人： WAYMO LLC
发明人： MORLEY FRANKLIN , BAROR OMER , FAIRFIELD NATHANIEL , CRARY MINER
IPC分类号： B60W30/14 , B60W10/18 , B60W30/08 , G05D1/00 , G05D1/02
摘要： 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.

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